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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

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Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG zeng-guang hou Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

Development and Evaluation of a 7-DOF Haptic Interface

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 261-269页

作者： Jian-Long Hao Xiao-Liang Xie Gui-Bin Bian zeng-guang hou Xiao-Hu Zhou Key Laboratory of Management and Control for Complex Systems Institute of Automation University of Chinese Academy of Sciences Beijing 100190 China IEEE

With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.

关键词： Dynamic modeling evaluation haptic interface impedance control

维普期刊数据库

Move Like Humans:End-to-end Gaussian Process Regression Based Target Tracking Control for Mobile Robots 36

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Move Like Humans:End-to-end Gaussian Process Regression Base...

第36届中国控制会议

作者： Ning An Shi-Ying Sun Xiao-guang Zhao zeng-guang hou State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781538629185

In this paper,we address the problem of target tracking control for mobile robots with limited sensing *** end-to-end Gaussian process regression learning control method is proposed to transfer the human control experiences to the *** end-to-end learning architecture directly learns the control mapping from the original sensing input space to the final control output space in an human-like *** non-parametric Gaussian process regression accurately transfers the complex human control experiences to the control *** addition,realistic training data set are collected from human operators for the end-to-end control *** performance of the proposed target tracking control method is extensively evaluated on various real-world scenarios,experimental results have demonstrated the robustness,accuracy,and effectiveness of the proposed method.

关键词： Target Tracking Control End-to-end Learning Human-like Control Non-parametric Bayesian Model Gaussian Process Regression

GPR and SPSO-CG based gait pattern generation for subject-specific training

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Science China(Information Sciences) 2021年第8期64卷 244-246页

作者： Weiqun WANG Weiguo SHI Shixin REN zeng-guang hou Xu LIANG Jiaxin WANG Liang PENG The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Dear editor,Gait training has been proved effective for recovery of walking ability for nerve injury patients caused by stroke, spinal cord injury(SCI), traumatic brain injury(TBI), etc. The traditional gait training methods, usually carried out by hands, are laborious and time-consuming, and hence, the training intensity is difficult to be maintained and the rehabilitation results are not satisfactory.

关键词： GPR and SPSO-CG based gait pattern generation for subject-specific training

Robotic Intra-Operative Ultrasound:Virtual Environments and Parallel Systems

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IEEE/CAA Journal of Automatica Sinica 2021年第5期8卷 1095-1106页

作者： Shuangyi Wang James housden Tianxiang Bai Hongbin Liu Junghwan Back Davinder Singh Kawal Rhode zeng-guang hou Fei-Yue Wang the State Key Laboratory of Management and Control of Complex Systems Chinese Academy of SciencesInstitute of AutomationBeijing 100190China the School of Biomedical Engineering and Imaging Sciences King’s College LondonLondon SE17EHUK the Xtronics Ltd.Gravesend DA122ADUK

Robotic intra-operative ultrasound has the potential to improve the conventional practice of diagnosis and procedure guidance that are currently performed *** towards automatic or semi-automatic ultrasound,being able to define ultrasound views and the corresponding probe poses via intelligent approaches become *** on the concept of parallel system which incorporates the ingredients of artificial systems,computational experiments,and parallel execution,this paper utilized a recent developed robotic trans-esophageal ultrasound system as the study object to explore the method for developing the corresponding virtual environments and present the potential applications of such *** proposed virtual system includes the use of 3 D slicer as the main workspace and graphic user interface(GUI),Matlab engine to provide robotic control algorithms and customized functions,and PLUS(Public software Library for Ultra Sound imaging research)toolkit to generate simulated ultrasound *** implementation methods were presented and the proposed features of the system were *** on this virtual system,example uses and case studies were presented to demonstrate its capabilities when used together with the physical TEE *** includes standard view definition and customized view optimization for pre-planning and navigation,as well as robotic control algorithm evaluations to facilitate real-time automatic probe pose *** conclude,the proposed virtual system would be a powerful tool to facilitate the further developments and clinical uses of the robotic intra-operative ultrasound systems.

关键词： Medical robots parallel intelligence parallel systems robotic-assisted surgery robotic ultrasound

维普期刊数据库

Necessary and Sufficient Conditions for Solving Leader-Following Problem of Multi-Agent Systems with Communication Noises

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Necessary and Sufficient Conditions for Solving Leader-Follo...

第25届中国控制与决策会议

作者： Yunpeng Wang Long Cheng zeng-guang hou Min Tan Huiyang Liu Min Wang State Key Laboratory of Management and Control for Complex Systems (SKLMCCS) Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University

ISBN: (纸本)9781467355339

The leader-following problem of first-order integral multi-agent systems with communication noises is investigated in this paper. To attenuate the noise’s effect, a positive time-varying gain a（t） is employed in the protocol. It is proved that the proposed protocol can solve the mean square leader-following problem if the following conditions hold: 1) the communication topology graph has a spanning tree;2) ∫∞0 a（t）dt = ∞;3) lim t→∞ a（t） = 0. The requirements on a（t） are different from most existing papers, where a（t） is required to satisfy that ∫∞0 a（t） = ∞ and ∫∞0 a2（t）＜ ∞. It turns out that ∫∞0 a2（t）＜ ∞ implies lim t→∞ a（t） = 0, if a（t） is uniformly continuous. Therefore this paper relaxes the requirements on a（t） to some extent. In addition, under the mild condition （a（t） is uniformly continuous） these three conditions are necessary as well. Furthermore, if ∫∞0 a2（t）＜∞, the employed protocol is proved to be able to solve the almost sure leader-following problem of first-order integral multi-agent system. Finally, a simulation example is provided to verify the effectiveness of the employed protocols.

关键词： Leader-following Consensus Multi-agent system Communication noise

Stochastic Consensus of Linear Multi-Agent Systems: Communication Noises and Markovian Switching Topologies

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Stochastic Consensus of Linear Multi-Agent Systems: Communic...

第26届中国控制与决策会议

作者： Long Cheng Yunpeng Wang zeng-guang hou Min Tan State Key Laboratory of Management an Control for Complex Institute of Automation Chinese Academy of Sciences

This paper studies the mean square and almost sure consensus of discrete-time linear multi-agent systems with communication noises under Markovian switching topologies. By a sophisticated stochastic-approximation type protocol, the closed-loop dynamics of this linear multi-agent system can be transformed into a discrete-time first-order integral multi-agent system. It is proved that if all roots of a polynomial, whose coefficients are the parameters in the gain vector of the proposed protocol, are in the unit circle, there is certain equivalence between the consensus of original linear multi-agent system and the consensus of transformed first-order integral multi-agent system. Then some sufficient conditions on the mean square/almost sure consensus of linear multi-agent systems can be obtained accordingly. Finally,theoretical analysis is verified by simulation examples.

关键词： Multi-agent systems Consensus Stochastic noise Markovian switching topology Linear time-invariant dynamics.

A Collision Response Algorithm for 3D Virtual Reality Minimally Invasive Surgery Simulator

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A Collision Response Algorithm for 3D Virtual Reality Minima...

第26届中国控制与决策会议

作者： Shao-Hua Mi zeng-guang hou Fan Yang Xiao-Liang Xie Gui-Bin Bian State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479937097

In recent years, rapid development of minimally invasive surgery has taken place. Virtual reality simulator enables the trainees to obtain the core catheter/guide wire handling skills and to decrease the error rate of operation prior to performing them on a real patient. In this paper, we present and evaluate a collision response algorithm and a force feedback computing method for simulating a catheter/guide wire in the interactive 3D virtual realty simulator based on a robotic catheter/guide wire operating system. In order to provide a real-time virtual environment, a multi-threading technology is used to accelerate the medical simulation procedure. Finally, we test the virtual catheter/guide wire with a complex and realistic 3D vascular model, which is generated from computed tomography angiography（CTA） series in DICOM datasets captured in a actual patient. The results show that the collision response algorithm in the system is effective and promising.

关键词： Mass-spring model Catheter/guide wire Collision response Force feedback Multi-threading and Robotic

Automated Silicon-Substrate Ultra-Microtome for Automating the Collection of Brain Sections in Array Tomography

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