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ORIGINAL RESEARCH article

Front. Bioeng. Biotechnol.
Sec. Biomechanics
Volume 12 - 2024 | doi: 10.3389/fbioe.2024.1430372

Research on Design and Control Methods of a Lightweight Upper Limb Joint Isokinetic Rehabilitation Training Equipment

Provisionally accepted
Zhou Zhou Zhou Zhou 1Yuzhu Wan Yuzhu Wan 2*Yingbing Su Yingbing Su 1*Yunwei Li Yunwei Li 1*Bingshan Hu Bingshan Hu 1,3*Hongliu Yu Hongliu Yu 1,3
  • 1 Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
  • 2 Aerospace System Engineering Shanghai, Shanghai, China
  • 3 Shanghai Engineering Research Center of Assistive Devices, Shanghai, China

The final, formatted version of the article will be published soon.

    Introduction: Isokinetic exercise can improve joint muscle strength and stability, making it suitable for early rehabilitation of stroke patients. However, traditional isokinetic equipment is bulky and costly, and cannot effectively avoid external environmental interference.Methods: This paper designed a lightweight upper limb joint isokinetic rehabilitation training equipment, with a control system that includes a speed planning strategy and speed control with disturbance rejection. Based on the established human-machine kinematic closed-loop model between the equipment and the user, a dynamic evaluation method of torque at the joint level was proposed.Results: To validate the effectiveness of the equipment, experiments were conducted by manually applying random disturbances to the equipment operated at an isokinetic speed. The results showed that the root mean square error between the observed torque curve of the second-order linear extended state observer used in this paper and the actual disturbance curve was 0.52, and the maximum speed tracking error of the speed control algorithm was 1.27%. In fast and slow sinusoidal speed curve tracking experiments, the root mean square errors of the speed tracking results for this algorithm were 9.65 and 5.27, respectively, while the tracking errors for the PID speed control algorithm under the same environment were 19.94 and 12.11.Discussion: The research results indicate that compared with traditional PID control method, the proposed control strategy demonstrates superior performance in achieving isokinetic control and suppressing external disturbances, thereby exhibiting significant potential in promoting upper limb rehabilitation among patients.

    Keywords: Rehabilitation robot1, mechanism design2, active disturbance rejection 3, nonlinear control4, isokinetic5, joint torque6

    Received: 09 May 2024; Accepted: 22 Aug 2024.

    Copyright: © 2024 Zhou, Wan, Su, Li, Hu and Yu. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence:
    Yuzhu Wan, Aerospace System Engineering Shanghai, Shanghai, China
    Yingbing Su, Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
    Yunwei Li, Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
    Bingshan Hu, Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China

    Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.