A Unified Control Framework Enables Robust Robotic Haptic Rendering of Bimanual Rehabilitation Tasks

Chenyang Sun1; Yudong Liu1; Cui Wang1; Yuzhou Lin1; Yifeng Chen1; Jianhuang Wu2; Jianjun Long3; Mingming Zhang1

2024

10.1109/LRA.2024.3471461

IEEE Robotics and Automation Letters   影响因子和分区

2377-3774

The haptic rendering function of bimanual rehabilitation robots is critical in promoting motor learning and neural plasticity. However, achieving high transparency and robust haptic rendering for diverse tasks remains challenging. The reason is that tasks with varying dynamic characteristics require distinct control architectures to maintain a balance between rendering accuracy and stability. To address this issue, we propose a unified control framework capable of adapting to various tasks. In this framework, tasks are classified into four types based on their dynamic characteristics. Aligned with the task type, the control architecture is reconstructed by invoking and integrating different encapsulated blocks, where each block functions as a subsystem with unique capabilities. To verify the proposed framework, a bimanual rehabilitation robotic system was developed and experimentally validated on eight human participants. Results indicate that the average force errors are less than 1 N for non-load moving tasks, and for tasks with a load of 20 N, the average force rendering accuracy exceeds 94%. The results confirm that the framework is capable of reaching a favorable compromise between stability and accuracy for various bimanual training tasks.

第一

1.Shenzhen Key Laboratory of Smart Healthcare Engineering, Guangdong Provincial Key Laboratory of Advanced Biomaterials, Department of Biomedical Engineering, Southern University of Science and Technology, Shenzhen, China
2.Shenzhen Wisemen Medical Technologies Co., Ltd, Shenzhen, China
3.The First Affiliated Hospital of Shenzhen University, Shenzhen University School of Medicine, Shenzhen Second People's Hospital, Shenzhen, China

Chenyang Sun,Yudong Liu,Cui Wang,et al. A Unified Control Framework Enables Robust Robotic Haptic Rendering of Bimanual Rehabilitation Tasks[J]. IEEE Robotics and Automation Letters,2024,PP(99).

Chenyang Sun.,Yudong Liu.,Cui Wang.,Yuzhou Lin.,Yifeng Chen.,...&Mingming Zhang.(2024).A Unified Control Framework Enables Robust Robotic Haptic Rendering of Bimanual Rehabilitation Tasks.IEEE Robotics and Automation Letters,PP(99).

Chenyang Sun,et al."A Unified Control Framework Enables Robust Robotic Haptic Rendering of Bimanual Rehabilitation Tasks".IEEE Robotics and Automation Letters PP.99(2024).