An assistive controller for a lower-limb exoskeleton for rehabilitation after stroke, and preliminary assessment thereof.
An assistive controller for a lower-limb exoskeleton for rehabilitation after stroke, and preliminary assessment thereof.
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DOI：
10.1109/embc.2014.6944521
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Murray SA;Ha KH;Goldfarb M
本文介绍了一种新型的控制器，用于下肢外骨骼，以帮助中风后轻偏瘫患者的步态康复。该控制器利用重力补偿，前馈运动辅助，并加强等距关节扭矩，以实现援助，而不支配的时空性质的关节运动。患者可以自行选择行走速度，并且能够进行轨迹调整以保持平衡，而不会受到控制器的干扰。本文描述了包括系统的控制方程和有限状态机。在下肢外骨骼中实施控制架构，并进行初步实验评估，其中患有中风引起的轻偏瘫的患者在外骨骼的帮助下行走。患者在每次训练中表现出快速步态速度、步长不对称性和步幅长度的改善，如在外骨骼训练之前和之后所测量的，这大概是使用外骨骼的结果。
This paper describes a novel controller, intended for use in a lower-limb exoskeleton, to aid gait rehabilitation in patients with hemiparesis after stroke. The controller makes use of gravity compensation, feedforward movement assistance, and reinforcement of isometric joint torques to achieve assistance without dictating the spatiotemporal nature of joint movement. The patient is allowed to self-select walking speed and is able to make trajectory adaptations to maintain balance without interference from the controller. The governing equations and the finite state machine which comprise the system are described herein. The control architecture was implemented in a lower-limb exoskeleton and a preliminary experimental assessment was conducted in which a patient with hemiparesis resulting from stroke walked with assistance from the exoskeleton. The patient exhibited improvements in fast gait speed, step length asymmetry, and stride length in each session, as measured before and after exoskeleton training, presumably as a result of using the exoskeleton.