Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction
Introduction: With the aggravation of aging and the growing number of stroke patients suffering from hemiplegia in China, rehabilitation robots have become an integral part of rehabilitation training. However, traditional rehabilitation robots cannot modify the training parameters adaptively to matc...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-01-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2023.1332689/full |
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| author | Yuling Zhang Yuling Zhang Tong Li Tong Li Haoran Tao Haoran Tao Fengchen Liu Fengchen Liu Bingshan Hu Bingshan Hu Minghui Wu Hongliu Yu Hongliu Yu |
| author_facet | Yuling Zhang Yuling Zhang Tong Li Tong Li Haoran Tao Haoran Tao Fengchen Liu Fengchen Liu Bingshan Hu Bingshan Hu Minghui Wu Hongliu Yu Hongliu Yu |
| author_sort | Yuling Zhang |
| collection | DOAJ |
| description | Introduction: With the aggravation of aging and the growing number of stroke patients suffering from hemiplegia in China, rehabilitation robots have become an integral part of rehabilitation training. However, traditional rehabilitation robots cannot modify the training parameters adaptively to match the upper limbs’ rehabilitation status automatically and apply them in rehabilitation training effectively, which will improve the efficacy of rehabilitation training.Methods: In this study, a two-degree-of-freedom flexible drive joint rehabilitation robot platform was built. The forgetting factor recursive least squares method (FFRLS) was utilized to estimate the impedance parameters of human upper limb end. A reward function was established to select the optimal stiffness parameters of the rehabilitation robot.Results: The results confirmed the effectiveness of the adaptive impedance control strategy. The findings of the adaptive impedance control studies showed that the adaptive impedance control had a significantly greater reward than the constant impedance control, which was in line with the simulation results of the variable impedance control. Moreover, it was observed that the levels of robot assistance could be suitably modified based on the subject’s different participation.Discussion: The results facilitated stroke patients’ upper limb rehabilitation by enabling the rehabilitation robot to adaptively change the impedance parameters according to the functional status of the affected limb. In clinic therapy, the proposed control strategy may help to adjust the reward function for different patients to improve the rehabilitation efficacy eventually. |
| first_indexed | 2024-03-08T17:21:35Z |
| format | Article |
| id | doaj.art-34412837dd714640900a67e55284d88c |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-03-08T17:21:35Z |
| publishDate | 2024-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-34412837dd714640900a67e55284d88c2024-01-03T04:33:36ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852024-01-011110.3389/fbioe.2023.13326891332689Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter predictionYuling Zhang0Yuling Zhang1Tong Li2Tong Li3Haoran Tao4Haoran Tao5Fengchen Liu6Fengchen Liu7Bingshan Hu8Bingshan Hu9Minghui Wu10Hongliu Yu11Hongliu Yu12School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaSchool of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai, ChinaSchool of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai, ChinaShanghai Engineering Research Center of Assistive Devices, Shanghai, ChinaIntroduction: With the aggravation of aging and the growing number of stroke patients suffering from hemiplegia in China, rehabilitation robots have become an integral part of rehabilitation training. However, traditional rehabilitation robots cannot modify the training parameters adaptively to match the upper limbs’ rehabilitation status automatically and apply them in rehabilitation training effectively, which will improve the efficacy of rehabilitation training.Methods: In this study, a two-degree-of-freedom flexible drive joint rehabilitation robot platform was built. The forgetting factor recursive least squares method (FFRLS) was utilized to estimate the impedance parameters of human upper limb end. A reward function was established to select the optimal stiffness parameters of the rehabilitation robot.Results: The results confirmed the effectiveness of the adaptive impedance control strategy. The findings of the adaptive impedance control studies showed that the adaptive impedance control had a significantly greater reward than the constant impedance control, which was in line with the simulation results of the variable impedance control. Moreover, it was observed that the levels of robot assistance could be suitably modified based on the subject’s different participation.Discussion: The results facilitated stroke patients’ upper limb rehabilitation by enabling the rehabilitation robot to adaptively change the impedance parameters according to the functional status of the affected limb. In clinic therapy, the proposed control strategy may help to adjust the reward function for different patients to improve the rehabilitation efficacy eventually.https://www.frontiersin.org/articles/10.3389/fbioe.2023.1332689/fullrehabilitation robotupper limbimpedance identificationadaptive impedance controloptimal stiffness |
| spellingShingle | Yuling Zhang Yuling Zhang Tong Li Tong Li Haoran Tao Haoran Tao Fengchen Liu Fengchen Liu Bingshan Hu Bingshan Hu Minghui Wu Hongliu Yu Hongliu Yu Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction Frontiers in Bioengineering and Biotechnology rehabilitation robot upper limb impedance identification adaptive impedance control optimal stiffness |
| title | Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| title_full | Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| title_fullStr | Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| title_full_unstemmed | Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| title_short | Research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| title_sort | research on adaptive impedance control technology of upper limb rehabilitation robot based on impedance parameter prediction |
| topic | rehabilitation robot upper limb impedance identification adaptive impedance control optimal stiffness |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2023.1332689/full |
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