Control of a pneumatic orthosis for upper extremity stroke rehabilitation.
Control of a pneumatic orthosis for upper extremity stroke rehabilitation.
复制标题
用于上肢中风康复的气动矫形器的控制。
DOI：
10.1109/iembs.2006.259941
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Bobrow,JamesE
中科院分区：
文献类型：
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作者：
Wolbrecht,EricT;Leavitt,John;Reinkensmeyer,DavidJ;Bobrow,JamesE
康复机器人的一个关键挑战是开发一种重量轻、力大、自由度高的设备，以帮助手臂的功能康复。气动执行器由于其高功率重量比，可能有助于应对这一挑战。它们目前没有广泛用于康复机器人，因为它们很难控制。本文描述了一种用于脑卒中后康复的双驱动上肢矫形器的控制开发。为了提供良好的气动控制所需的传感，位置和速度的机器人估计由一个独特的实施卡尔曼滤波器使用MEMS加速度计。为了补偿气动伺服阀的非线性行为，力控制是使用一种新的方法来实现的空气流量映射使用实验测量数据的最小二乘回归。为了帮助患者移动与固有的顺应性机器人，一个高层次的控制器，仅在需要时，协助达到演习的开发。这种高级控制器不同于传统的基于自动控制的位置控制器，允许朝向目标的自由自主运动，同时抵抗远离目标的运动。当无法主动到达目标时，控制器会慢慢地增加力量，将手臂推向目标。当到达每个目标位置时，控制器建立受试者能力的内部模型，学习完成运动所需的力。对非残疾受试者进行的初步测试表明，矫形器能够在分级辅助下完成伸展运动，并适应受试者的努力水平。因此，矫形器是中风后上肢康复的一种很有前途的工具
A key challenge in rehabilitation robotics is the development of a lightweight, large force, high degrees-of-freedom device that can assist in functional rehabilitation of the arm. Pneumatic actuators can potentially help meet this challenge because of their high power-to-weight ratio. They are currently not widely used for rehabilitation robotics because they are difficult to control. This paper describes the control development of a pneumatically actuated, upper extremity orthosis for rehabilitation after stroke. To provide the sensing needed for good pneumatic control, position and velocity of the robot are estimated by a unique implementation of a Kalman filter using MEMS accelerometers. To compensate for the nonlinear behavior of the pneumatic servovalves, force control is achieved using a new method for air flow mapping using experimentally measured data in a least-squares regression. To help patients move with an inherently compliant robot, a high level controller that assists only as needed in reaching exercises is developed. This high level controller differs from traditional trajectory-based, position controllers, allowing free voluntary movements toward a target while resisting movements away from the target. When the target cannot be reached voluntarily, the controller slowly builds up force, pushing the arm toward the target. As each target position is reached, the controller builds an internal model of the subject's capability, learning the forces necessary to complete movements. Preliminary testing performed on a non-disabled subject demonstrated the ability of the orthosis to complete reaching movements with graded assistance and to adapt to the effort level of the subject. Thus, the orthosis is a promising tool for upper extremity rehabilitation after stroke