scholarly journals Musculoskeletal modeling and humanoid control of robots based on human gait data

2021 ◽  
Vol 7 ◽  
pp. e657
Author(s):  
Jun Yu ◽  
Shuaishuai Zhang ◽  
Aihui Wang ◽  
Wei Li ◽  
Lulu Song
Keyword(s):  
Inverse Kinematics ◽  
Inverse Dynamics ◽  
Control Method ◽  
Musculoskeletal Model ◽  
Human Motion ◽  
Good News ◽  
Human Gait ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Limb Rehabilitation

The emergence of exoskeleton rehabilitation training has brought good news to patients with limb dysfunction. Rehabilitation robots are used to assist patients with limb rehabilitation training and play an essential role in promoting the patient’s sports function with limb disease restoring to daily life. In order to improve the rehabilitation treatment, various studies based on human dynamics and motion mechanisms are still being conducted to create more effective rehabilitation training. In this paper, considering the human biological musculoskeletal dynamics model, a humanoid control of robots based on human gait data collected from normal human gait movements with OpenSim is investigated. First, the establishment of the musculoskeletal model in OpenSim, inverse kinematics, and inverse dynamics are introduced. Second, accurate human-like motion analysis on the three-dimensional motion data obtained in these processes is discussed. Finally, a classic PD control method combined with the characteristics of the human motion mechanism is proposed. The method takes the angle values calculated by the inverse kinematics of the musculoskeletal model as a benchmark, then uses MATLAB to verify the simulation of the lower extremity exoskeleton robot. The simulation results show that the flexibility and followability of the method improves the safety and effectiveness of the lower limb rehabilitation exoskeleton robot for rehabilitation training. The value of this paper is also to provide theoretical and data support for the anthropomorphic control of the rehabilitation exoskeleton robot in the future.

Human-Like Robust Adaptive PD Based Human Gait Tracking for Exoskeleton Robot

2021 ◽  
Vol 33 (1) ◽  
pp. 88-96
Author(s):  
Aihui Wang ◽  
Ningning Hu ◽  
Jun Yu ◽  
Junlan Lu ◽  
Yifei Ge ◽  
...  
Keyword(s):  
Control Strategy ◽  
Lower Limb ◽  
Structural Parameters ◽  
Human Gait ◽  
Pd Control ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Robust Adaptive ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

For patients with dyskinesias caused by central nervous system diseases such as stroke, in the early stage of rehabilitation training, lower limb rehabilitation robots are used to provide passive rehabilitation training. This paper proposed a human-like robust adaptive PD control strategy of the exoskeleton robot based on healthy human gait data. When the error disturbance is bounded, a human-like robust adaptive PD control strategy is designed, which not only enables the rehabilitation exoskeleton robot to quickly track the human gait trajectory obtained through the 3D NOKOV motion capture system, but also can well identify the structural parameters of the system and avoid excessively initial output torque for the robot. MATLAB simulation verifies that the proposed method has a better performance to realize tracking the experimental trajectory of human movement and anti-interference ability under the condition of ensuring global stability for a lower limb rehabilitation exoskeleton robot.

Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

2018 ◽  
Vol 38 (5) ◽  
pp. 595-605 ◽  
Author(s):  
Wencheng Ni ◽  
Hui Li ◽  
Zhihong Jiang ◽  
Bainan Zhang ◽  
Qiang Huang
Keyword(s):  
Design Methodology ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Body Measurements ◽  
Joint Movement ◽  
Content Type ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Training Mode ◽  
Active Rehabilitation

Purpose The purpose of this paper is to design an exoskeleton robot and present a corresponding rehabilitation training method for patients in different rehabilitation stages. Design/methodology/approach This paper presents a lightweight seven-degrees-of-freedom (DOF) cable-driven exoskeleton robot that is wearable and adjustable. After decoupling joint movement caused by a cable-driven mechanism, active rehabilitation training mode and passive rehabilitation training mode are proposed to improve the effect of rehabilitation training. Findings Simulations and experiments have been carried out, and the results validated the feasibility of the proposed mechanism and methods by a fine rehabilitative effect with different persons. Originality/value This paper designed a 7-DOF cable-driven exoskeleton robot that is suitable for patients of different body measurements and proposed the active rehabilitation training mode and passive rehabilitation training mode based on the cable-driven exoskeleton robot.

scholarly journals Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199228
Author(s):  
Buyun Wang ◽  
Yi Liang ◽  
Dezhang Xu ◽  
Zhihong Wang ◽  
Jing Ji
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Control Method ◽  
Human Gait ◽  
Tracking Accuracy ◽  
Driving System ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Pressure Compensation ◽  
Power Assistance

According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved.

scholarly journals Using proposed optimization algorithm for solving inverse kinematics of human upper limb applying in rehabilitation robotic

2021 ◽  
Author(s):  
Trung Nguyen ◽  
Tam Bui ◽  
Ha Pham
Keyword(s):  
Upper Limb ◽  
Inverse Kinematics ◽  
Search Space ◽  
Human Motion ◽  
Robot Arm ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Inverse Kinematics Problem ◽  
Limb Rehabilitation ◽  
Human Upper Limb

AbstractThe requirement to solve the problem of Inverse Kinetics (IK) plays a very important role in the robotics field in general, and especially in the field of rehabilitation robots, in particular. If the solutions of this problem are not suitable, it can cause undesirable damage to the patient when exercising. Normally, the problem of Inverse Kinematics in the robotics field, as well as the natural field, especially for redundant driven systems, often requires the application of a lot of techniques. The redundancy in Degree of Freedom (DoF), the nonlinearity of the system leads to solve inverse kinematics problem more challenge. In this study, we proposed to apply the self-adaptive control parameters in Differential Evolution with search space improvement (Pro-ISADE) to solve the problem for the human upper limb, which is a very typical redundancy model in nature. First of all, the angles of the joints were measured by a proposed Exoskeleton type Human Motion Capture System (E-HMCS) when the wearer performs some Activities of Daily Living (ADL) and athletic activities. The values of these measured angles joints then were put into the forward kinematics model to find the end effector trajectories. After having these orbits, they were re-fed into the proposed Pro-ISADE algorithm mentioned above to process the IK problem and obtain the predicted joints angular values. The experimental results showed that the predicted joints’ values closely follow the measured joints’ values. That demonstrates the ability to apply the Pro-ISADE algorithm to solve the problem of Inverse Kinetics of the human upper limb as well as the upper limb rehabilitation robot arm.

scholarly journals A Construction Method of Lower Limb Rehabilitation Robot with Remote Control System

2021 ◽  
Vol 11 (2) ◽  
pp. 867
Author(s):  
Mingda Miao ◽  
Xueshan Gao ◽  
Wei Zhu
Keyword(s):  
Control System ◽  
Remote Control ◽  
Lower Limb ◽  
Human Motion ◽  
Practical Training ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

In response to the rehabilitation needs of stroke patients who are unable to benefit from conventional rehabilitation due to the COVID-19 epidemic, this paper designs a robot that combines on-site and telerehabilitation. The objective is to assist the patient in walking. We design the electromechanical system with a gantry mechanism, body-weight support system, information feedback system, and man-machine interactive control system. The proposed rehabilitation robot remote system is based on the client/server (C/S) network framework to realize the remote control of the robot state logic and the transmission of patient training data. Based on the proposed system, doctors can set or adjust the training modes and control the parameters of the robot and guide remote patient rehabilitation training through video communication. The robotic system can further store and manage the rehabilitation data of the patient during training. Experiments show the human-computer interaction system of the lower limb rehabilitation robot has good performance, can accurately recognize the information of human motion posture, and achieve the goal of actively the following motion. Experiments confirm the feasibility of the proposed design, the information management of stroke patients, and the efficiency of rehabilitation training. The proposed system can reduce the workload of the doctors in practical training.

scholarly journals Research on Human Sports Rehabilitation Design Based on Object-Oriented Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Dandan Cao ◽  
Junyan Wang ◽  
Naihong Liu
Keyword(s):  
Control Method ◽  
Object Oriented ◽  
Human Movement ◽  
Human Motion ◽  
Activity Data ◽  
Rehabilitation Training ◽  
Object Oriented Technology ◽  
Dynamic Tracking ◽  
Tracking Model ◽  
Training Control

In order to improve the effect of human motion rehabilitation, a design model of human motion rehabilitation based on object-oriented technology is proposed. The entire model design process includes the following steps. First, a visual dynamic tracking model for human motion rehabilitation is established, and then a fuzzy PID (Proportion Integration Differentiation) superheterodyne control method is used to design the bone training control for human motion rehabilitation. The bone tracking control and adaptive training are under the control of object-oriented technology; it is analyzed by collecting human activity data during training. The 6-DOF kinematics problem of human movement rehabilitation is decomposed into the bone training control problem in the subspace. Combining object-oriented technology, visual blur recognition of human sports rehabilitation training, and adopting an adaptive kinematics model to design sports rehabilitation can improve the control convergence and global stability of the human sports rehabilitation process. The simulation results show that the method has a good overall steady state and the sports rehabilitation training effect is obvious.

A NOVEL MULTI-DOF EXOSKELETON ROBOT FOR UPPER LIMB REHABILITATION

2016 ◽  
Vol 16 (08) ◽  
pp. 1640023 ◽  
Author(s):  
LIN LIU ◽  
YUN-YONG SHI ◽  
LE XIE
Keyword(s):  
Upper Limb ◽  
Passive Movement ◽  
Joint Movement ◽  
Upper Limb Rehabilitation ◽  
Sitting Posture ◽  
Rehabilitation Training ◽  
Exoskeleton Robot ◽  
Motion Function ◽  
Custom Made ◽  
Limb Rehabilitation

Patients who suffer from stroke have motion function disorders. They need rehabilitation training guided by doctors and trainers. Nowadays, robots have been introduced to help the patients regain their motion function in rehabilitation training. In this paper, a novel multi degree of freedom (DOF) exoskeleton robot, with light weight, including (6[Formula: see text]1) DOFs, named as Rehab-Arm, is proposed and developed for upper limb rehabilitation. The joints of the robot are equipped with micro motors which are capable of actuating each DOF respectively and simultaneously. The medial/lateral rotation of shoulder is realized by a semi-circle guide mechanism for convenience consideration and safety. The robot is used in sitting posture which is attached to a custom made chair. Hence, the robot can be used to assist patients in passive movement with 7 DOFs of the upper limb for rehabilitation. Five adult healthy male subjects participated in the experiment to test the joint movement accuracy of the robot. Finally, subjects can wear Rehab-Arm and move their upper limb, led by micro motors of the robot, to perform task assigned with specific trajectory.

A Treadmill Speed Adaptive Control Method for Lower Limb Rehabilitation Robot

2013 ◽  
Vol 655-657 ◽  
pp. 1158-1163
Author(s):  
Jing Wen Wu ◽  
Lin Yong Shen ◽  
Ya Nan Zhang ◽  
Jin Wu Qian
Keyword(s):  
Adaptive Control ◽  
Lower Limb ◽  
Control Method ◽  
Sagittal Plane ◽  
Force Measurement ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Treadmill Speed ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Robot-assisted rehabilitation training on a treadmill is a popular research direction in recent years. And it will replace the artificial rehabilitation training to become a major rehabilitation training method for patients with lower limb action impairments. However, in the existing rehabilitation system, treadmill run in the constant speed. It has to change the speed manually rather than adjust according to the patients’ active consciousness. In the paper, we proposed a treadmill speed adaption control method for Lower Limb Rehabilitation Robot. A pull pressure sensor is used to detect human’s movement trends. The data are calculated through non-linear gain and then sent to the speed controller in the treadmill according to the characteristics that the hip of human body is fixed on the robot in the walking direction of the sagittal plane. Based on this principle, we designed a force measurement structure and verified the control method by experiment. The result shows that the control method can satisfy adaptive control of the treadmill speed.

Fractional-order modeling and control of pneumatic-hydraulic upper limb rehabilitation training system1

2020 ◽  
Vol 39 (5) ◽  
pp. 7639-7651
Author(s):  
Hongyan Wang ◽  
Zhi Huang ◽  
Jinbo Lu
Keyword(s):  
Fractional Order ◽  
Mass Flow ◽  
Upper Limb ◽  
Control Method ◽  
Controller Design ◽  
Flow Equation ◽  
Training System ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Limb Rehabilitation

In this paper, by replacing the integral mass flow equation to fractional-order mass flow equation, the fractional-order mathematical model of 2DOF pneumatic-hydraulic upper limb rehabilitation training system is established. A new 2DOF fractional-order fuzzy PID (FOFPID) controller is designed, to provides a new reference for improving the control accuracy of the pneumatic system. In the design of the controller, the weight parameters of the input terms are transformed into the weight parameters of the error, and the input, which are analyzed to improve the accuracy of the controller design. The parameters of the control system are determined by multi-objective particle swarm optimization. To prove the effectiveness of the proposed control method, the experimental research was carried out by building the experimental platform of pneumatic-hydraulic upper limb rehabilitation training system. The results show that the 2DOF FOFPID controller has better performance than other designed controllers under different working conditions.

scholarly journals Motion intensity modeling and trajectory control of upper limb rehabilitation exoskeleton robot based on multi-modal information

2022 ◽  
Author(s):  
WenDong Wang ◽  
JunBo Zhang ◽  
Xin Wang ◽  
XiaoQing Yuan ◽  
Peng Zhang
Keyword(s):  
Control Method ◽  
Trajectory Control ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Data Set ◽  
Upper Limb Rehabilitation ◽  
Exoskeleton Robot ◽  
Intensity Perception ◽  
Perception Model ◽  
Limb Rehabilitation

AbstractThe motion intensity of patient is significant for the trajectory control of exoskeleton robot during rehabilitation, as it may have important influence on training effect and human–robot interaction. To design rehabilitation training task according to situation of patients, a novel control method of rehabilitation exoskeleton robot is designed based on motion intensity perception model. The motion signal of robot and the heart rate signal of patient are collected and fused into multi-modal information as the input layer vector of deep learning framework, which is used for the human–robot interaction model of control system. A 6-degree of freedom (DOF) upper limb rehabilitation exoskeleton robot is designed previously to implement the test. The parameters of the model are iteratively optimized by grouping the experimental data, and identification effect of the model is analyzed and compared. The average recognition accuracy of the proposed model can reach up to 99.0% in the training data set and 95.7% in the test data set, respectively. The experimental results show that the proposed motion intensity perception model based on deep neural network (DNN) and the trajectory control method can improve the performance of human–robot interaction, and it is possible to further improve the effect of rehabilitation training.

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