Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles
Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link,...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2017-12-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | http://journal.frontiersin.org/article/10.3389/fnbot.2017.00064/full |
| _version_ | 1819025952050511872 |
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| author | Quan Liu Quan Liu Aiming Liu Aiming Liu Wei Meng Wei Meng Wei Meng Qingsong Ai Qingsong Ai Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie |
| author_facet | Quan Liu Quan Liu Aiming Liu Aiming Liu Wei Meng Wei Meng Wei Meng Qingsong Ai Qingsong Ai Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie |
| author_sort | Quan Liu |
| collection | DOAJ |
| description | Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy. |
| first_indexed | 2024-12-21T05:18:51Z |
| format | Article |
| id | doaj.art-06a8e182a7eb4a30a7eff230ca7937e4 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-21T05:18:51Z |
| publishDate | 2017-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-06a8e182a7eb4a30a7eff230ca7937e42022-12-21T19:14:51ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182017-12-011110.3389/fnbot.2017.00064305767Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic MusclesQuan Liu0Quan Liu1Aiming Liu2Aiming Liu3Wei Meng4Wei Meng5Wei Meng6Qingsong Ai7Qingsong Ai8Sheng Q. Xie9Sheng Q. Xie10Sheng Q. Xie11Sheng Q. Xie12School of Information Engineering, Wuhan University of Technology, Wuhan, ChinaKey Lab of Fiber Optic Sensing Technology and Information Processing, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaKey Lab of Fiber Optic Sensing Technology and Information Processing, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaKey Lab of Fiber Optic Sensing Technology and Information Processing, Wuhan University of Technology, Wuhan, ChinaDepartment of Mechanical Engineering, University of Auckland, Auckland, New ZealandSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaKey Lab of Fiber Optic Sensing Technology and Information Processing, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaDepartment of Mechanical Engineering, University of Auckland, Auckland, New ZealandSchool of Electrical and Electronic Engineering, University of Leeds, Leeds, United KingdomSchool of Mechanical Engineering, University of Leeds, Leeds, United KingdomTraditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.http://journal.frontiersin.org/article/10.3389/fnbot.2017.00064/fullsoft rehabilitation robotpneumatic musclescompliance adaptationadmittance controlpatient-cooperative training |
| spellingShingle | Quan Liu Quan Liu Aiming Liu Aiming Liu Wei Meng Wei Meng Wei Meng Qingsong Ai Qingsong Ai Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie Sheng Q. Xie Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles Frontiers in Neurorobotics soft rehabilitation robot pneumatic muscles compliance adaptation admittance control patient-cooperative training |
| title | Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles |
| title_full | Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles |
| title_fullStr | Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles |
| title_full_unstemmed | Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles |
| title_short | Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles |
| title_sort | hierarchical compliance control of a soft ankle rehabilitation robot actuated by pneumatic muscles |
| topic | soft rehabilitation robot pneumatic muscles compliance adaptation admittance control patient-cooperative training |
| url | http://journal.frontiersin.org/article/10.3389/fnbot.2017.00064/full |
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