Path Planning and Impedance Control of a Soft Modular Exoskeleton for Coordinated Upper Limb Rehabilitation
| Autor: | Yang Liu, Sheng Quan Xie, Wei Meng, Quan Liu, Qingsong Ai, Yi Li, Chang Zhu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Self-reconfiguring modular robot
Computer science medicine.medical_treatment Biomedical Engineering Neurosciences. Biological psychiatry. Neuropsychiatry Artificial Intelligence rehabilitation robot medicine Motion planning path planning Simulation soft exoskeleton Original Research Rehabilitation business.industry Modular design coordinated rehabilitation Exoskeleton body regions Pneumatic artificial muscles impedance control Impedance control Trajectory business RC321-571 Neuroscience |
| Zdroj: | Frontiers in Neurorobotics Frontiers in Neurorobotics, Vol 15 (2021) |
| ISSN: | 1662-5218 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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