Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor
According to neuro-rehabilitation practice, active training is effective for mild stroke patients, which means these patients are able to recovery effective when they perform the training to overcome certain resistance by themselves. Therefore, for rehabilitation devices without backdrivability, imp...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2012-11-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/12/12/16046 |
| _version_ | 1811279796587462656 |
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| author | Zhibin Song Shuxiang Guo Nan Xiao Baofeng Gao Liwei Shi |
| author_facet | Zhibin Song Shuxiang Guo Nan Xiao Baofeng Gao Liwei Shi |
| author_sort | Zhibin Song |
| collection | DOAJ |
| description | According to neuro-rehabilitation practice, active training is effective for mild stroke patients, which means these patients are able to recovery effective when they perform the training to overcome certain resistance by themselves. Therefore, for rehabilitation devices without backdrivability, implementation of human-machine synchronization is important and a precondition to perform active training. In this paper, a method to implement this precondition is proposed and applied in a user’s performance of elbow flexions and extensions when he wore an upper limb exoskeleton rehabilitation device (ULERD), which is portable, wearable and non-backdrivable. In this method, an inertia sensor is adapted to detect the motion of the user’s forearm. In order to get a smooth value of the velocity of the user’s forearm, an adaptive weighted average filtering is applied. On the other hand, to obtain accurate tracking performance, a double close-loop control is proposed to realize real-time and stable tracking. Experiments have been conducted to prove that these methods are effective and feasible for active rehabilitation. |
| first_indexed | 2024-04-13T01:02:18Z |
| format | Article |
| id | doaj.art-a2cc3bd9210a4d1895919ba562e16ccc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T01:02:18Z |
| publishDate | 2012-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-a2cc3bd9210a4d1895919ba562e16ccc2022-12-22T03:09:27ZengMDPI AGSensors1424-82202012-11-011212160461605910.3390/s121216046Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia SensorZhibin SongShuxiang GuoNan XiaoBaofeng GaoLiwei ShiAccording to neuro-rehabilitation practice, active training is effective for mild stroke patients, which means these patients are able to recovery effective when they perform the training to overcome certain resistance by themselves. Therefore, for rehabilitation devices without backdrivability, implementation of human-machine synchronization is important and a precondition to perform active training. In this paper, a method to implement this precondition is proposed and applied in a user’s performance of elbow flexions and extensions when he wore an upper limb exoskeleton rehabilitation device (ULERD), which is portable, wearable and non-backdrivable. In this method, an inertia sensor is adapted to detect the motion of the user’s forearm. In order to get a smooth value of the velocity of the user’s forearm, an adaptive weighted average filtering is applied. On the other hand, to obtain accurate tracking performance, a double close-loop control is proposed to realize real-time and stable tracking. Experiments have been conducted to prove that these methods are effective and feasible for active rehabilitation.http://www.mdpi.com/1424-8220/12/12/16046exoskeleton devicemotion trackingbackdrivabilitydouble close-loop control |
| spellingShingle | Zhibin Song Shuxiang Guo Nan Xiao Baofeng Gao Liwei Shi Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor Sensors exoskeleton device motion tracking backdrivability double close-loop control |
| title | Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor |
| title_full | Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor |
| title_fullStr | Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor |
| title_full_unstemmed | Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor |
| title_short | Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor |
| title_sort | implementation of human machine synchronization control for active rehabilitation using an inertia sensor |
| topic | exoskeleton device motion tracking backdrivability double close-loop control |
| url | http://www.mdpi.com/1424-8220/12/12/16046 |
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