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

踝关节康复机器人智能控制系统的研发

• 批准号: 2748508
• 金额: --
• 依托单位: University of Leeds
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2022
• 资助国家: 英国
• 起止时间: 2022 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2748508
• 关键词: Research; Development; Intelligent; Control; System

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.

该项目将研究控制系统及其在用于修复关节的机器人中的有效性，主要集中于中风和运动有关的伤害等神经损伤。将比较这些机器人在工业机器人中使用的某些控制系统的有效性，并使用本研究提出新的智能控制系统。智能控制系统应是新颖的，包括深度学习和AI的方面。将为使用气动肌肉作为执行器的脚踝康复机器人开发拟议的控制系统。在整个开发过程中，机器人将进行测试，并针对控制值量化了控制系统的有效性。一旦该系统足够开发，将提议与人类参与者进行测试以验证其有效性。该项目的目的是研究，开发和测试一个智能控制系统，可用于脚踝康复机器人机器人。脚踝机器人 - 使用更普通的控制系统从测试中获得的控制值测试智能系统 - 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，并可能允许像NHS访问功能性机器人一样允许医疗保健服务。这将有助于治疗师照顾中风受害者和其他神经系统疾病的患者，这些疾病会损害关节运动，从而可以更有效地治疗并减轻治疗师的身体工作量。该项目的短期益处是，当前用于康复的机器人使用的机器人不是很好，并且不能轻易适应患者的特定需求。智能控制系统将允许更直观的界面，在治疗过程中对治疗师的身体干扰以及对患者的定制培训价值和锻炼的需求更少。该项目中的脚踝机器人的使用对于测试和培训是必要的，但是控制系统的应用扩展到大多数康复机器人，允许对参数进行较小的动作范围，以允许对系统进行任何动作，以允许进行任何动作。