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An EMG-Based Biomimetic Variable Stiffness Modulation Strategy for Bilateral Motor Skills Relearning of Upper Limb Elbow Joint rehabilitation

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Journal of Bionic Engineering 2023年第4期20卷 1597-1612页

作者： Ziyi Yang Shuxiang Guo Keisuke Suzuki Yi Liu Masahiko Kawanishi Graduate School of Engineering Kagawa UniversityTakamatsuKagawa761-0396Japan Key Laboratory of Convergence Medical Engineering System and Healthcare Technology School of Life Science and TechnologyBeijing Institute of TechnologyBeijing100081China National rehabilitation Center for Persons with Disabilities Tokorozawa359-8555Japan Faculty of Medicine Kagawa UniversityTakamatsuKagawa761-0793Japan

Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side ***,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be *** this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills *** Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness ***,the bilateral impedance control is incorporated for realizing compliant patient-robot *** experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills *** results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.

关键词： Biomimetic stiffness modulation Compliant physical human-robot interaction(pHRI) Electromyography(EMG) Variable stiffness actuator(VSA) rehabilitation robotics Synergy-based control Skill relearning

Adaptive Control for Passive Kinesiotherapy ELLTIO

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Journal of Bionic Engineering 2014年第4期11卷 581-588页

作者： Ricardo López Hipólito Aguilar Sergio Salazar Rogelio Lozano Laboratory UMI LAFMIA 3175 CINVESTAV-CNRS Móxico D. F. CNRS Research Director Universitb de Technologie de Compiègne 60200 Compiègne France

Exoskeletons are mechatronic devices used to increase human muscle strength and resistance. In the last decade these devices have become a very useful tool to assist active kinesiotherapy. This paper presents the design of exoskeleton focused on the rehabilitation of ankle and knee for the right leg. The construction of prototype like Exoskeleton for Lower Limb Training with Instrumented Orthoses （ELLTIO） using Series Elastic Actuator （SEA） to reduce the effort in the human joints, and a control law to perform a rehabilitation routine using an adaptive control scheme were first implemented in simulation to verify the control strategy and make a real rehabilitation test. The adaptive control law is proposed with the intention that the exoskeleton can adapt to user parameters at the time when performing the exercise. The results show the parameters estimation and tracking trajectory for the exoskeleton were proposed, and this trajectory could be a routine rehabilitation proposed by the therapist.

关键词： exoskeleton parametric identification rehabilitation robotics adaptive control.

Design and Control of a Pneumatically Actuated Transtibial Prosthesis

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Journal of Bionic Engineering 2015年第2期12卷 217-226页

作者： Hao Zheng Xiangrong Shen Department of Mechanical Engineering University of Alabama 359 H.M. Comer Hall Box 870276 Tuscaloosa AL 35487-0276 USA

This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user＇s locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided by this highly competitive actuator. In this paper, the design details of the prosthesis are described, including the determination of performance specifications, the layout of the actuation mechanism, and the calculation of the torque capacity. Through the authors＇ design calculation, the prosthesis is able to provide sufficient range of motion and torque capacity to support the lo- comotion of a 75 Kg individual. The controller design is also described, including the underlying biomechanical analysis and the formulation of the finite-state impedance controller. The testing results of human subject indicate that the prosthesis is able to generate a natural walking gait and sufficient power output for its amputee user.

关键词： lower limb prosthesis powered prosthesis rehabilitation robotics assistive robotic devices

A pediatric robotic thumb exoskeleton for at-home rehabilitation The isolated orthosis for thumb actuation(IOTA)

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International Journal of Intelligent Computing and Cybernetics 2014年第3期7卷 233-252页

作者： Patrick Aubin Kelsey Petersen Hani Sallum Conor Walsh Annette Correia Leia Stirling rehabilitation and Development Center of Excellence for Limb Loss Prevention and Prosthetic Engineering VA Puget Sound Health Care SystemSeattleWashingtonUSA Wyss Institute for Biologically Inspired Engineering Harvard UniversityBostonMassachusettsUSA Boston Children’s Hospital BostonMassachusettsUSA Wyss Institute for Biologically Inspired Engineering Harvard UniversityBostonMassachusettsUSA and Massachusetts Institute of TechnologyCambridgeMassachusettsUSA

Purpose–Pediatric disorders,such as cerebral palsy and stroke,can result in thumb-in-palm deformity greatly limiting hand *** not only limits children’s ability to perform activities of daily living but also limits important motor skill ***,the isolated orthosis for thumb actuation(IOTA)is 2 degrees of freedom(DOF)thumb exoskeleton that can actuate the carpometacarpal(CMC)and metacarpophalangeal(MCP)joints through ranges of motion required for activities of daily *** paper aims to discuss these ***/methodology/approach–IOTA consists of a lightweight hand-mounted mechanism that can be secured and aligned to individual *** mechanism is actuated via flexible cables that connect to a portable control *** encoders and bend sensors monitor the 2 DOF of the thumb and flexion/extension of the wrist.A linear force characterization was performed to test the mechanical efficiency of the cable-drive transmission and the output torque at the exoskeletal CMC and MCP joints was ***–Using this platform,a number of control modes can be implemented that will enable the device to be controlled by a patient to assist with opposition grasp and fine motor *** force and torque studies showed a maximum efficiency of 44 percent,resulting in a torque of 2.3971.06 in.-lbf and 0.6970.31 in.-lbf at the CMC and MCP joints,*** implications–The authors envision this at-home device augmenting the current in-clinic and at-home therapy,enabling telerehabilitation ***/value–This paper presents the design and characterization of a novel device specifically designed for pediatric grasp telerehabilitation to facilitate improved functionality and somatosensory learning。

关键词： Pediatric Exoskeleton At-home hand rehabilitation rehabilitation robotics Thumb