The Development and Implementation of Low-Level Control Strategies for a Robust and Effective Low-Cost Rehabilitation Robot for Home Use

中风的可能性随着年龄的增长而增加。统计数据显示，英国人口正在老龄化，部分原因是预期寿命的延长。这意味着中风在英国变得越来越普遍，这一趋势也反映在西方世界的大部分地区。在英国，中风患病率的增加给NHS和康复服务带来了很大的负担，特别是考虑到有效的神经康复应该是密集的，并且在中风发作后早期进行。为了减轻医疗服务的负担并提供更多的治疗机会，研究越来越侧重于机器人技术的使用。康复机器人用于神经创伤（如中风）的康复，旨在帮助患者进行训练练习，并根据需要专注于特定的目标区域。例如，步态训练器有助于行走康复，上肢装置有助于达到运动训练。康复机器人的好处是，可以在传统的人类主导的物理治疗的同时，提供可重复、可测量和持续的训练练习。这是以昂贵的系统为代价的，因此只适合在医院等社区环境中安装，这限制了获得重要康复的机会。虽然对低成本机器人系统进行了一些研究，但商用康复机器人的成本超过10万美元。该项目将为MyPAM机器人开发一种低成本的集成力传感器和末端执行器，论证最小扰动轨迹的选择和导纳控制方案的设计。讨论了进一步的工作，包括改进力传感器和必要的工作，以实现导纳控制方案和阻抗控制方案。目的：开发和实现适合家用的低成本鲁棒康复机器人的导纳控制和阻抗控制策略。目标：开发、测试和验证用于末端执行器的低成本力传感器。将低成本力传感器集成到MyPAM的系统架构中。开发，测试和验证具有吸引子和排斥子的平滑轨迹生成器。将轨迹生成器集成到MyPAM的软件体系结构中。开发、测试和验证用于MyPAM驱动关节的低成本扭矩传感器。将低成本扭矩传感器集成到MyPAM的系统架构中。设计、实施、测试和验证导纳控制方案。设计，实施，测试和验证阻抗控制方案。确定人体试验中导纳控制方案的有效性。确定阻抗控制方案在人体试验中的有效性。

The likelihood of having a Stroke increases with age. Statistics show that the population of the UK is aging, due in part to an increase in life expectancy. This means that Stroke is becoming more prevalent in the UK, and this is a trend reflected across much of the Western world. In the UK the increase in Stroke prevalence places a large burden on the NHS and rehabilitation services, especially considering that it is understood that effective neural rehabilitation should be intensive and occur early after the onset of Stroke. In order to ease the burden on medical services and provide more access to therapy, research is increasingly focused on the use of robotics.Rehabilitation robotics for the rehabilitation of neurological traumas such as Stroke are designed to assist the patient with training exercises, and by necessity focus on specific target areas. Gait trainers assist with walking rehabilitation, for example, and upper limb devices assist with reaching exercise training. The benefits of rehabilitation robotics are that repeatable, measurable and consistent training exercises can be provided alongside traditional human-led physiotherapy. This comes at the cost of systems which are expensive and therefore only appropriate to install in community settings such as hospitals, which limits the access to important rehabilitation. Whilst there has been some research into low cost robotic systems, commercially available rehabilitation robots cost in excess of $100,000.The project will look at the development of a low-cost integrated force sensor and end effector for the MyPAM robot, the justification of the selection of a Minimum Jerk Trajectory and the design of an Admittance Control scheme. Further work is discussed, including improvements to the force sensor and necessary work to implement both an Admittance control scheme and an Impedance control scheme.Aim:To develop and implement Admittance Control and Impedance Control strategies for a robust and low-cost rehabilitation robot suitable for home use.Objectives: Develop, test, and validate a low-cost force sensor for the end effector. Integrate the low-cost force sensor into the systems architecture of the MyPAM. Develop, test, and validate a smooth trajectory generator with attractors and repulsors. Integrate the trajectory generator into the software architecture of the MyPAM. Develop, test, and validate a low-cost torque sensor for the MyPAM powered joints. Integrate the low-cost torque sensors into the systems architecture of the MyPAM. Design, implement, test, and validate an Admittance Control scheme. Design, implement, test, and validate an Impedance Control scheme. Determine the effectiveness of the Admittance Control scheme in human based trials. Determine the effectiveness of the Impedance Control scheme in human based trials.