Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation
The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patient...
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2021-11-01
|
| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2021.745531/full |
| _version_ | 1818825681824382976 |
|---|---|
| author | Quan Liu Yang Liu Yi Li Chang Zhu Wei Meng Qingsong Ai Sheng Q. Xie |
| author_facet | Quan Liu Yang Liu Yi Li Chang Zhu Wei Meng Qingsong Ai Sheng Q. Xie |
| author_sort | Quan Liu |
| collection | DOAJ |
| description | The coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patients to perform coordinated training with safety and compliance. In this study, a novel coordinated path planning and impedance control method is proposed for the modular exoskeleton elbow–wrist rehabilitation robot driven by pneumatic artificial muscles (PAMs). A convolutional neural network-long short-term memory (CNN-LSTM) model is established to describe the coordination relationship of the upper limb joints, so as to generate adaptive trajectories conformed to the coordination laws. Guided by the planned trajectory, an impedance adjustment strategy is proposed to realize active training within a virtual coordinated tunnel to achieve the robot-assisted upper limb coordinated training. The experimental results showed that the CNN-LSTM hybrid neural network can effectively quantify the coordinated relationship between the upper limb joints, and the impedance control method ensures that the robotic assistance path is always in the virtual coordination tunnel, which can improve the movement coordination of the patient and enhance the rehabilitation effectiveness. |
| first_indexed | 2024-12-19T00:15:38Z |
| format | Article |
| id | doaj.art-85f966de9f104f27bf2fa8a8044b9441 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-19T00:15:38Z |
| publishDate | 2021-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-85f966de9f104f27bf2fa8a8044b94412022-12-21T20:45:49ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182021-11-011510.3389/fnbot.2021.745531745531Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb RehabilitationQuan Liu0Yang Liu1Yi Li2Chang Zhu3Wei Meng4Qingsong Ai5Sheng Q. Xie6School of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Information Engineering, Wuhan University of Technology, Wuhan, ChinaSchool of Electronic and Electrical Engineering, University of Leeds, Leeds, United KingdomThe coordinated rehabilitation of the upper limb is important for the recovery of the daily living abilities of stroke patients. However, the guidance of the joint coordination model is generally lacking in the current robot-assisted rehabilitation. Modular robots with soft joints can assist patients to perform coordinated training with safety and compliance. In this study, a novel coordinated path planning and impedance control method is proposed for the modular exoskeleton elbow–wrist rehabilitation robot driven by pneumatic artificial muscles (PAMs). A convolutional neural network-long short-term memory (CNN-LSTM) model is established to describe the coordination relationship of the upper limb joints, so as to generate adaptive trajectories conformed to the coordination laws. Guided by the planned trajectory, an impedance adjustment strategy is proposed to realize active training within a virtual coordinated tunnel to achieve the robot-assisted upper limb coordinated training. The experimental results showed that the CNN-LSTM hybrid neural network can effectively quantify the coordinated relationship between the upper limb joints, and the impedance control method ensures that the robotic assistance path is always in the virtual coordination tunnel, which can improve the movement coordination of the patient and enhance the rehabilitation effectiveness.https://www.frontiersin.org/articles/10.3389/fnbot.2021.745531/fullpath planningrehabilitation robotimpedance controlcoordinated rehabilitationsoft exoskeleton |
| spellingShingle | Quan Liu Yang Liu Yi Li Chang Zhu Wei Meng Qingsong Ai Sheng Q. Xie Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation Frontiers in Neurorobotics path planning rehabilitation robot impedance control coordinated rehabilitation soft exoskeleton |
| title | Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation |
| title_full | Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation |
| title_fullStr | Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation |
| title_full_unstemmed | Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation |
| title_short | Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation |
| title_sort | path planning and impedance control of a soft modular exoskeleton for coordinated upper limb rehabilitation |
| topic | path planning rehabilitation robot impedance control coordinated rehabilitation soft exoskeleton |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2021.745531/full |
| work_keys_str_mv | AT quanliu pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT yangliu pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT yili pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT changzhu pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT weimeng pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT qingsongai pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation AT shengqxie pathplanningandimpedancecontrolofasoftmodularexoskeletonforcoordinatedupperlimbrehabilitation |