Shared Control of Elbow Movements with Functional Electrical Stimulation and Exoskeleton Assistance
Shared Control of Elbow Movements with Functional Electrical Stimulation and Exoskeleton Assistance
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通过功能性电刺激和外骨骼辅助共享肘部运动控制
DOI：
10.1109/icorr55369.2022.9896570
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
O'Malley, Marcia K.
中科院分区：
文献类型：
--
作者：
Dunkelberger, Nathan;Carlson, Skye A.;Berning, Jeffrey;Stovicek, Kyra C.;Schearer, Eric M.;O'Malley, Marcia K.
由于脊髓损伤而瘫痪的人将恢复手臂和手的功能列为首要任务。FES有助于使用用户自己的肌肉恢复运动，但不能产生许多功能任务所需的准确和可重复的运动。机器人可以帮助用户实现精确和可重复的运动，但通常需要庞大的硬件来产生必要的扭矩。我们建议共享机器人和FES之间的扭矩要求，以减少机器人的扭矩输出相比，机器人单独行动，但保持高精度。协同PD和模型预测控制算法的设计，以共享这两个转矩源之间的控制。设计了相应的不使用FES的PD和MPC算法。控制算法进行了测试与10个健全的科目。当系统被命令遵循功能性肘关节屈曲/伸展轨迹时，比较扭矩和位置跟踪精度。实现这些运动所需的机器人扭矩减少了共享控制的情况下相比，没有FES的算法。我们观察到，与PD共享控制器相比，MPC共享控制器的位置精度降低，而MPC共享控制器导致扭矩要求的更大降低。这两种共享算法都显示出对现有选项的改进，并且可以在任何给定的轨迹上使用，从而可以更好地转移到功能性任务。
Individuals who suffer from paralysis as a result of a spinal cord injury list restoration of arm and hand function as a top priority. FES helps restore movement using the user's own muscles, but does not produce accurate and repeatable movements necessary for many functional tasks. Robots can assist users in achieving accurate and repeatable movements, but often require bulky hardware to generate the necessary torques. We propose sharing torque requirements between a robot and FES to reduce robot torque output compared to a robot acting alone, yet maintain high accuracy. Cooperative PD and model predictive control algorithms were designed to share the control between these two torque sources. Corresponding PD and MPC algorithms that do not use FES were also designed. The control algorithms were tested with 10 able-bodied subjects. Torque and position tracking accuracy were compared when the system was commanded to follow a functional elbow flexion/extension trajectory. The robot torque required to achieve these movements was reduced for the shared control cases compared to the algorithms acting without FES. We observed a reduction in position accuracy with the MPC shared controller compared to the PD shared controller, while the MPC shared controller resulted in greater reductions in torque requirements. Both of these shared algorithms showed improvements over existing options, and can be used on any given trajectory, allowing for better transferability to functional tasks.
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10.1109/icra40945.2020.9196992
发表时间：
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DOI：
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期刊：
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