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。在此基础上，提出了一种新的智能控制系统。该智能控制系统应该是新颖的，并且包括深度学习和人工智能等方面。所提出的控制系统将用于以气动肌肉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，并将控制系统的有效性与控制值进行量化。一旦该系统得到充分开发，将建议对人类参与者进行测试，以验证其有效性。该项目的目标是研究、开发和测试一种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-了解和使用大学机器人实验室中的脚踝康复机器人，包括软件-为脚踝机器人开发一种新型的智能控制系统-对照使用更常见的控制系统的测试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脚踝康复的有效性，并可能允许NHS等医疗服务获得功能性康复机器人。这将有助于治疗师照顾中风患者和其他患有损害关节运动的神经疾病的患者，从而实现更有效的治疗，并减轻治疗师的体力工作量。该项目更短期的好处是，目前用于康复的机器人不太友好，不能轻易适应患者的特殊需求。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预，以及为患者定制训练值和练习。在这个项目中，脚踝机器人的使用对于测试和训练是必要的，但控制系统的应用扩展到大多数康复机器人，只要参数有很小的变化，因为学习方面应该允许控制系统对任何执行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.