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ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Biomedical Robotics
Volume 11 - 2024 |
doi: 10.3389/frobt.2024.1404814
A greedy assist-as-needed controller for end-effect upper limb rehabilitation robot based on 3-DOF potential field constraints
Provisionally accepted
Yue Lu
1,2,3
Zixuan Lin
1,2,3
Yahui Li
1,2,3
Jinwang Lv
1,2,3
Jiaji Zhang
2,3,4
Cong Xiao
1,2,3
Guokun Zuo
1,2,3,4*
Guohong Chai
2,3*
Ye Liang
5
Xujiao Chen
6
Tao Song
2,3- 1 Cixi Institute of Biomedicine, Wenzhou Medical University, Cixi, China
- 2 Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo, Zhejiang Province, China
- 3 Ningbo Cixi Institute of Biomedical Engineering, Ningbo, Zhejiang Province, China
- 4 University of Chinese Academy of Sciences, Beijing, Beijing, China
- 5 Department of Oral and Maxillofacial Surgery, Center of Stomatology, Xiangya Hospital,Central South University, Changsha, China
- 6 Department of Oncology, The First Affiliated Hospital of Zhejiang Chinese Medical University, Hangzhou, Zhejiang Province, China
It has been proven that robot-assisted rehabilitation training can effectively promote the recovery of upper-limb motor function in post-stroke patients. Increasing patients' active participation by providing assist-as-needed (AAN) control strategies is key to the effectiveness of robot-assisted rehabilitation training. In this paper, a greedy assist-as-needed (GAAN) controller based on radial basis function (RBF) network combined with 3 degrees of freedom (3-DOF) potential constraints was proposed to provide AAN interactive forces of an end-effect upper limb rehabilitation robot. The proposed 3-DOF potential fields were adopted to constrain the tangential motions of three kinds of typical target trajectories (one-dimensional (1D) lines, two-dimensional (2D) curves and threedimensional (3D) spirals) while the GAAN controller was designed to estimate the motor capability of a subject and provide appropriate robot-assisted forces. The co-simulation (Adams-Matlab/Simulink) experiments and behavioral experiments on 10 healthy volunteers were conducted to validate the utility of the GAAN controller. The experimental results demonstrated that the GAAN controller combined with 3-DOF potential field constraints enabled the subjects to actively participate in kinds of tracking tasks while keeping acceptable tracking accuracies (17.23±2.23mm). 3D spirals could be better in stimulating subjects' active participation when compared to 1D and 2D target trajectories. The current GAAN controller has the potential to be applied to existing commercial upper limb rehabilitation robots.
Keywords: Assist-as-needed (AAN), 3-DOF potential field, Radial Basis function (RBF) network, human-robot interaction, Rehabilitation robot
Received: 21 Mar 2024; Accepted: 26 Sep 2024.
Copyright: © 2024 Lu, Lin, Li, Lv, Zhang, Xiao, Zuo, Chai, Liang, Chen and Song. 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:
Guokun Zuo, Cixi Institute of Biomedicine, Wenzhou Medical University, Cixi, 315302, China
Guohong Chai, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences (CAS), Ningbo, 315201, Zhejiang Province, China
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