Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements.
Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements.
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DOI：
10.3389/fnbot.2023.1127783
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发表时间：
2023
影响因子：
3.1
通讯作者：
中科院分区：
文献类型：
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患有颈脊髓损伤的人优先考虑恢复上肢功能以完成日常生活活动。混合 FES 外骨骼系统有潜力通过提供便携式、供电和可穿戴设备来帮助这一人群；然而，实现这种技术组合一直具有挑战性。特别是，考虑到组合动态系统的复杂性，很难显示运动的普遍性，也很难定义驱动的最佳分布。在本文中，我们提出了一种使用模型预测控制 (MPC) 公式的混合控制器，该公式结合了外骨骼和 FES 系统的驱动。 MPC 成本函数旨在将驱动分配到单个自由度上，以有利于 FES 控制工作，减少外骨骼功耗，同时确保沿不同轨迹的平稳运动。我们的控制器由 9 名身体健全的参与者进行了测试，使用 FES 表面刺激与上肢动力外骨骼配对。将混合控制器与单独的外骨骼控制器进行比较，我们测量了参与者通过两个肘部弯曲/伸展轨迹以及分别通过两个手腕弯曲/伸展轨迹移动时的轨迹误差和扭矩。基于 MPC 的混合控制器显示，肘部屈曲/伸展关节和腕部屈曲/伸展关节的平方扭矩和平均分别降低了 48.7% 和 57.9%，与单独的外骨骼相比，跟踪精度只有很小的差异。为了实现混合 FES 外骨骼系统的实际实施，控制策略需要转化为多自由度运动，在参与者之间实现更一致的改进，并平衡控制以更充分地利用肌肉的能力。
Individuals who have suffered a cervical spinal cord injury prioritize the recovery of upper limb function for completing activities of daily living. Hybrid FES-exoskeleton systems have the potential to assist this population by providing a portable, powered, and wearable device; however, realization of this combination of technologies has been challenging. In particular, it has been difficult to show generalizability across motions, and to define optimal distribution of actuation, given the complex nature of the combined dynamic system. In this paper, we present a hybrid controller using a model predictive control (MPC) formulation that combines the actuation of both an exoskeleton and an FES system. The MPC cost function is designed to distribute actuation on a single degree of freedom to favor FES control effort, reducing exoskeleton power consumption, while ensuring smooth movements along different trajectories. Our controller was tested with nine able-bodied participants using FES surface stimulation paired with an upper limb powered exoskeleton. The hybrid controller was compared to an exoskeleton alone controller, and we measured trajectory error and torque while moving the participant through two elbow flexion/extension trajectories, and separately through two wrist flexion/extension trajectories. The MPC-based hybrid controller showed a reduction in sum of squared torques by an average of 48.7 and 57.9% on the elbow flexion/extension and wrist flexion/extension joints respectively, with only small differences in tracking accuracy compared to the exoskeleton alone. To realize practical implementation of hybrid FES-exoskeleton systems, the control strategy requires translation to multi-DOF movements, achieving more consistent improvement across participants, and balancing control to more fully leverage the muscles' capabilities.
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期刊：
IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
影响因子：
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