Research and Development of an Intelligent Control System for an Ankle rehabilitation Robot

该项目将研究用于关节康复的机器人的控制系统及其有效性，主要关注中风等神经损伤和运动相关损伤。将比较工业中这些机器人使用的某些控制系统的有效性，并利用这项研究提出一种新的智能控制系统。智能控制系统应该是新颖的，包括深度学习和AI方面。所提出的控制系统将用于使用气动肌肉作为执行器的踝关节康复机器人。在整个开发过程中，将对机器人进行测试，并根据控制值量化控制系统的有效性。一旦系统开发充分，将提出与人类参与者的测试来验证其有效性。该项目的目的是研究、开发和测试用于脚踝康复机器人的智能控制系统。该项目的目标是：- 研究有关康复机器人及其控制系统的最新文献-了解并使用大学机器人实验室中的踝关节康复机器人，包括软件-为踝关节机器人开发一种新型的智能控制系统-根据使用更常见的控制系统进行测试所获得的控制值来测试智能系统-与人类参与者一起测试智能控制系统该项目的潜在应用包括提高机器人辅助踝关节康复的有效性，并可能允许NHS等医疗服务机构使用功能康复机器人。这将有助于治疗师照顾中风患者和其他患有神经系统疾病的患者，这些疾病损害了关节运动，从而可以进行更有效的治疗，减轻治疗师的体力工作量。该项目的一个更短期的好处是，目前用于康复的机器人不是很人性化，并且不能很容易地适应患者的特定需求。智能控制系统将允许更直观的界面，在治疗过程中更少需要治疗师的物理干扰，并为患者定制训练值和练习。在该项目中使用踝关节机器人是测试和训练所必需的，但控制系统的应用扩展到大多数康复机器人，只要对参数进行微小更改，因为学习方面应该允许控制系统对于任何致动器设置和所需的运动范围起作用。

This project will research control systems and their effectiveness in robots used for rehabilitation of joints, primarily focused on neurological injuries such as strokes, and sport-related injuries. The effectiveness of certain control systems used in these robots in industry will be compared and using this research a new intelligent control system will be proposed.The intelligent control system should be novel and include aspects of deep learning and AI.The proposed control system will be developed for an ankle rehabilitation robot using pneumatic muscles as actuators. Throughout the development the robot will be tested, and the effectiveness of the control system quantified against control values. Once the system is sufficiently developed, tests with human participants will be proposed to validate its effectiveness.The aim of the project is to research, develop and test an intelligent control system to be used in an ankle rehabilitation robot.The objectives of the project are:- Research current literature around rehabilitation robots and their control systems- Understand and use the ankle rehabilitation robot in the robotics lab in the university, including software- Develop a novel intelligent control system for the ankle robot- Test the intelligent system against control values gained from tests using more commonplace control systems- Test the intelligent control system alongside human participantsThe potential applications of this project include improving the effectiveness of robot-assisted ankle rehabilitation and potentially allow healthcare services like the NHS access to functional rehabilitation robots. This would assist therapists in caring for stroke victims and other patients with neurological diseases that impair joint movement, allowing for more effective treatment and easing the physical workload on the therapist.A more short-term benefit of the project is that current robots used for rehabilitation are not very user-friendly and cannot be easily adapted to a patient's particular needs. An intelligent control system would allow for a more intuitive interface, less need for physical interference from a therapist during the therapy process, and custom training values and exercises for a patient.The use of the ankle robot in this project is necessary for testing and training but the application of the control system extends to most rehabilitation robotics, given minor changes to the parameters, as the learning aspect should allow the control system to function for any actuator setup and range of motion required.