Hybrid parallel compliant actuation for lower limb rehabilitation

用于下肢康复的混合并行顺应驱动

• 批准号: 392037132
• 负责人: Professor Dr.-Ing. Steffen Leonhardt
• 金额: --
• 依托单位: Lehrstuhl für Medizinische Informationstechnik (MedIT)
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2018
• 资助国家: 德国
• 起止时间: 2017-12-31 至 2021-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/392037132?language=en
• 关键词: Hybrid; parallel; compliant; actuation; lower

Paralysis is a functional loss of a single or multiple muscles of the skeletal musculature. Corresponding to the cause of the paralysis various therapy approaches are possible. On the one hand, a rehabilitative training can be realised with automated motion therapy and, on the other hand, the compensation of missing motor function can be substituted by powered actuators. In this research project, a new class of actuators and control of exoskeletons and active orthosis are to be fundamentally researched, which are especially suitable for patients with residual function (hemiplegics, stroke survivors). The suitability for paraplegic patients is to be examined in a later phase of the project. As a core component, the project focuses on the design of novel variable-parallel-elastic actuators (VPEA) for the movement support of the lower limbs. In order to be able to fully control the energy flow into the parallel spring, the actuator is equipped with a brake and a clutch. This approach is intended to minimise the necessary actuator power consumption and to involve the patient with a residual movement function more intensively in the motion during therapy due. In parallel to the design of the actuator, a nonlinear dynamical model is to be researched, which also contains physiological and dynamic submodels of the overall system, in addition to the hybrid electromechanical model. The increased complexity of the actuator demands for a multiobjective control design. In addition to cascaded force and impedance controllers (assist as needed principle), the energy flow into the parallel elastic element has to be controlled. Moreover, the control synthesis has to be designed with respect to an overactuated system with multiple actuated joints. Furthermore, the controller has to guarantee interaction stability with respect to possible residual muscle function of its wearer. To be able to achieve these objectives, a cascaded control structure with possible combinations of robust control for switched systems, iterative learning control or model-predictive control are investigated.The goal is to create a proven rehabilitation system that can be used for both patient groups. After integration of the actuator into an existing exoskeleton structure and motion tests, a commercial FES system is also examined in combination with VPEA. For this purpose, a synergistic physiological controller is to be developed which uses the patient muscles and VPEA together for the movement. The overall goal of this work package is the extension of the exoskeleton applicability to the group of paraplegic patients.The actuators, including the underlying control system for the individual joints, are successively put into operation and tested. Finally the whole exoskeletal support system is validated in a treadmill study in a Chinese motion lab of the Tsinghua University of Peking with cross-parlayed patients recruited from a cooperating Chinese hospital.

瘫痪是骨骼肌系统的单个或多个肌肉的功能丧失。对应于瘫痪的原因，各种治疗方法是可能的。一方面，康复训练可以通过自动运动治疗来实现，另一方面，缺失运动功能的补偿可以由动力致动器代替。在本研究项目中，将从根本上研究一类新的驱动器和外骨骼控制以及主动矫形器，这些驱动器和控制特别适用于具有残余功能的患者（偏瘫患者，中风幸存者）。对截瘫患者的适用性将在项目的后期阶段进行审查。 作为核心部件，本项目的重点是设计用于下肢运动支撑的新型可变并联弹性致动器（VPEA）。为了能够完全控制流入平行弹簧的能量，执行器配备了制动器和离合器。这种方法旨在最大限度地减少必要的致动器功耗，并使具有剩余运动功能的患者在治疗期间更集中地参与运动。在并行的致动器的设计，非线性动力学模型进行研究，其中还包含生理和动态子模型的整个系统，除了混合机电模型。随着执行器复杂性的增加，需要进行多目标控制设计。除了级联的力和阻抗控制器（按需辅助原理）之外，还必须控制进入并联弹性元件的能量流。此外，控制合成的设计与多个驱动关节的过驱动系统。此外，控制器必须保证相对于其佩戴者的可能的剩余肌肉功能的交互稳定性。为了能够实现这些目标，一个级联的控制结构与切换系统的鲁棒控制，迭代学习控制或模型预测控制的可能组合进行了调查。我们的目标是创建一个经过验证的康复系统，可用于两个患者群体。在将致动器集成到现有的外骨骼结构和运动测试中之后，还结合VPEA检查了商业FES系统。为此，将开发一种协同生理控制器，其将患者肌肉和VPEA一起用于运动。该工作包的总体目标是将外骨骼的适用性扩展到截瘫患者群体。执行器，包括用于单个关节的底层控制系统，相继投入运行和测试。最后，整个外骨骼支持系统在北京清华大学中国运动实验室的跑步机研究中进行了验证，并从中国合作医院招募了交叉参与的患者。