Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation
In recent years, lower limb exoskeletons have achieved satisfactory clinical curative effects in rehabilitating stroke patients. Furthermore, generating individualized trajectories for each patient and avoiding secondary injury in rehabilitation training are important issues. This paper explores the...
| Main Authors: | , , , , , |
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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 |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2024.1358022/full |
| _version_ | 1797346157368705024 |
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| author | Haojie Liu Chang Zhu Zude Zhou Yunfei Dong Wei Meng Quan Liu |
| author_facet | Haojie Liu Chang Zhu Zude Zhou Yunfei Dong Wei Meng Quan Liu |
| author_sort | Haojie Liu |
| collection | DOAJ |
| description | In recent years, lower limb exoskeletons have achieved satisfactory clinical curative effects in rehabilitating stroke patients. Furthermore, generating individualized trajectories for each patient and avoiding secondary injury in rehabilitation training are important issues. This paper explores the utilization of series elastic actuator (SEA) to deliver compliant force and enhance impact resistance in human-robot interaction, and we present the design of novel knee exoskeleton driven by SEA. Subsequently, the novel gait trajectory prediction method and compliant control method are proposed. The attention-based CNN-LSTM model is established to generate personalized gait trajectories for affected limbs, in which the spatial-temporal attention mechanism is adopted to improve the prediction accuracy. The compliant control strategy is proposed to nonlinearly and adaptively tune impedance parameters based on artificial potential field (APF) method, and active rehabilitation training is carried out in the coordination space to guarantee patient safety. The experimental results based on four healthy subjects demonstrated that synergetic gait prediction model could satisfactorily characterize the coordination movement with higher accuracy. The compliant control could limit the patient’s movement in the safe coordination tunnel while considering personalization and flexibility. |
| first_indexed | 2024-03-08T11:28:55Z |
| format | Article |
| id | doaj.art-47932d8da51544a4ad848e7d9f7ac1fc |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-03-08T11:28:55Z |
| publishDate | 2024-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-47932d8da51544a4ad848e7d9f7ac1fc2024-01-26T04:32:06ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852024-01-011210.3389/fbioe.2024.13580221358022Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitationHaojie LiuChang ZhuZude ZhouYunfei DongWei MengQuan LiuIn recent years, lower limb exoskeletons have achieved satisfactory clinical curative effects in rehabilitating stroke patients. Furthermore, generating individualized trajectories for each patient and avoiding secondary injury in rehabilitation training are important issues. This paper explores the utilization of series elastic actuator (SEA) to deliver compliant force and enhance impact resistance in human-robot interaction, and we present the design of novel knee exoskeleton driven by SEA. Subsequently, the novel gait trajectory prediction method and compliant control method are proposed. The attention-based CNN-LSTM model is established to generate personalized gait trajectories for affected limbs, in which the spatial-temporal attention mechanism is adopted to improve the prediction accuracy. The compliant control strategy is proposed to nonlinearly and adaptively tune impedance parameters based on artificial potential field (APF) method, and active rehabilitation training is carried out in the coordination space to guarantee patient safety. The experimental results based on four healthy subjects demonstrated that synergetic gait prediction model could satisfactorily characterize the coordination movement with higher accuracy. The compliant control could limit the patient’s movement in the safe coordination tunnel while considering personalization and flexibility.https://www.frontiersin.org/articles/10.3389/fbioe.2024.1358022/fullknee exoskeletonseries elastic actuatorgait predictioncompliant controlpersonalized trajectory |
| spellingShingle | Haojie Liu Chang Zhu Zude Zhou Yunfei Dong Wei Meng Quan Liu Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation Frontiers in Bioengineering and Biotechnology knee exoskeleton series elastic actuator gait prediction compliant control personalized trajectory |
| title | Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation |
| title_full | Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation |
| title_fullStr | Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation |
| title_full_unstemmed | Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation |
| title_short | Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation |
| title_sort | synergetic gait prediction and compliant control of sea driven knee exoskeleton for gait rehabilitation |
| topic | knee exoskeleton series elastic actuator gait prediction compliant control personalized trajectory |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2024.1358022/full |
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