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Adaptive Control for Passive Kinesiotherapy ELLTIO

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.

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Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces

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Journal of Bionic Engineering 2022年第5期19卷 1374-1391页

作者： Arturo Gonzalez‑Mendoza Ivett Quinones‑Uriostegui Sergio Salazar‑Cruz Alberto‑Isaac Perez‑Sanpablo Ricardo Lopez‑Gutierrez Rogelio Lozano lafmia umi Center for Research and AdvancedStudies of National Polytechnic InstituteAv.Instituto Politecnico Nacional No.250807360 Mexico CityMexico Motion Analysis Lab National Institute of Rehabilitation Luis Guillermo Ibarra IbarraCalz.Mexico Xochimilco No.28914389 Mexico CityMexico CONACYT-CINVESTAV Av.Instituto Politecnico Nacional 250807360 Mexico CityMexico UTC-CNRS UMR Sorbonne UniversitesUTC-CNRS UMR7253 HeudiasycCompiegneFrance

This paper presents an upper limb exoskeleton that allows cognitive(through electromyography signals)and physical user interaction(through load cells sensors)for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological *** the exoskeleton to be easily accepted by patients who suffer from a neurological injury,we used the ISO9241-210:2010 as a methodology design *** the first steps of the design process,design requirements were collected from previous usability tests and ***,as a second step,a technological solution is proposed,and as a third step,the system was evaluated through performance and user *** part of the technological solution and to allow patient participation during the rehabilitation process,we have proposed a hybrid admittance control whose input is load cell or electromyography *** hybrid admittance control is intended for active therapy exercises,is easily implemented,and does not need musculoskeletal modeling to ***,electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.

关键词： Human Robot interaction Hybrid admittance control Surface electromyography Upper-limb exoskeletal robot

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