Subject-specific compliance control of an upper-limb bilateral robotic system

Miao，Qing1; Peng，Yuxin2; Liu，Li3; McDaid，Andrew4; Zhang，Mingming1

2020-04-01

10.1016/j.robot.2020.103478

ROBOTICS AND AUTONOMOUS SYSTEMS   影响因子和分区

0921-8890

1872-793X

This paper proposes a new compliance control strategy on a robot-assisted bilateral upper limb rehabilitation system. The robotic compliance regulation was achieved by modifying predefined training trajectories in real time, based on measured human–robot interaction force and human users’ position within subject-specific workspace. Experimental data were collected from healthy subjects, and indicate that human users can follow predefined training trajectories well under real-time compliance variation, with the maximum normalized root mean square error (NRMSE) value no greater than 1.44%. Preliminary findings are encouraging, which demonstrates the availability of the proposed subject-specific compliance adaptation strategy, and the potential with enhanced training safety and efficacy. Future work will consider conducting a direct comparison between a bilateral upper limb rehabilitation device (BULReD)-assisted compliance training with or without subject-specific adaptation on a large sample of participants with upper limb disabilities.

Bilateral Compliance control Subject-specific workspace Upper-limb robotics

EI ; SCI

英语

第一 ; 通讯

National Natural Science Foundation of China[20190004]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:000524382000012

Elsevier B.V.

20200808203196

Human robot interaction ; Mean square error ; Neuromuscular rehabilitation ; Robotics

Rehabilitation Engineering and Assistive Technology:461.5 ; Specific Variables Control:731.3 ; Robotics:731.5 ; Mathematical Statistics:922.2

ENGINEERING

2-s2.0-85079681002

Scopus

1.Department of Biomedical Engineering,Southern University of Science and Technology,Shenzhen,518055,China
2.Department of Physical Education and Sports Science,Zhejiang University,Hangzhou,310058,China
3.School of Big Data & Software Engineering,Chongqing University,Chongqing,400030,China
4.Department of Mechanical Engineering,the University of Auckland,Auckland,1010,New Zealand

Miao，Qing,Peng，Yuxin,Liu，Li,et al. Subject-specific compliance control of an upper-limb bilateral robotic system[J]. ROBOTICS AND AUTONOMOUS SYSTEMS,2020,126.

Miao，Qing,Peng，Yuxin,Liu，Li,McDaid，Andrew,&Zhang，Mingming.(2020).Subject-specific compliance control of an upper-limb bilateral robotic system.ROBOTICS AND AUTONOMOUS SYSTEMS,126.

Miao，Qing,et al."Subject-specific compliance control of an upper-limb bilateral robotic system".ROBOTICS AND AUTONOMOUS SYSTEMS 126(2020).