Human muscle fatigue monitoring method and its application for exoskeleton interactive control / 生物医学工程学杂志

Aiming at the human-computer interaction problem during the movement of the rehabilitation exoskeleton robot, this paper proposes an adaptive human-computer interaction control method based on real-time monitoring of human muscle state. Considering the efficiency of patient health monitoring and rehabilitation training, a new fatigue assessment algorithm was proposed. The method fully combined the human neuromuscular model, and used the relationship between the model parameter changes and the muscle state to achieve the classification of muscle fatigue state on the premise of ensuring the accuracy of the fatigue trend. In order to ensure the safety of human-computer interaction, a variable impedance control algorithm with this algorithm as the supervision link was proposed. On the basis of not adding redundant sensors, the evaluation algorithm was used as the perceptual decision-making link of the control system to monitor the muscle state in real time and carry out the robot control of fault-tolerant mechanism decision-making, so as to achieve the purpose of improving wearing comfort and improving the efficiency of rehabilitation training. Experiments show that the proposed human-computer interaction control method is effective and universal, and has broad application prospects.

Research on assist-as-needed control strategy of wrist function-rehabilitation robot / 生物医学工程学杂志

In order to stimulate the patients' active participation in the process of robot-assisted rehabilitation training of stroke patients, the rehabilitation robots should provide assistant torque to patients according to their rehabilitation needs. This paper proposed an assist-as-needed control strategy for wrist rehabilitation robots. Firstly, the ability evaluation rules were formulated and the patient's ability was evaluated according to the rules. Then the controller was designed. Based on the evaluation results, the controller can calculate the assistant torque needed by the patient to complete the rehabilitation training task and send commands to motor. Finally, the motor is controlled to output the commanded value, which assists the patient to complete the rehabilitation training task. The control strategy was implemented to the wrist function rehabilitation robot, which could achieve the training effect of assist-as-needed and could avoid the surge of assistance torque. In addition, therapists can adjust multiple parameters in the ability evaluation rules online to customize the difficulty of tasks for patients with different rehabilitation status. The method proposed in this paper does not rely on the information from force sensor, which reduces development costs and is easy to implement.

Contribution of co-contraction to arm impedance in the free planar movement / 医用生物力学

Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.

Contribution of co-contraction to arm impedance in the free planar movement / 医用生物力学

Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.

Contribution of co-contraction to arm impedance in the free planar movement / 医用生物力学

Objective Impedance control plays an important role in stability.This paper intends to explore such mechanism through modeling human reaching movement.Method Implemented with revised model,we ap-ply optimal control theory to neuro-muscle-skeleton model to calculate the stiffness ellipses.Result Com-pared with the original model and experimental figures,the model we proposed could overcome the shortage of monotonous changing of the original one and fit the data better.Conclusions So that this paper concludes that co-contraction contributes to impedance control even during free upper limb planar movement.