Multi-mode adaptive control strategy for a lower limb rehabilitation robot
Xu Liang1, Yuchen Yan2, Shenghua Dai1
1School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China.
Frontiers in Bioengineering and Biotechnology
|May 31, 2024
Summary
This study introduces a multi-mode adaptive control method for safe and effective patient rehabilitation. The system adjusts assistance levels and switches modes to match patient ability and ensure safety during robot-assisted training.
Area of Science:
- Robotics
- Rehabilitation Engineering
- Control Systems
Background:
- Patient rehabilitation requires individualized strategies for safety and comfort.
- Existing methods may lack adaptability to varying patient needs and recovery stages.
Purpose of the Study:
- To propose a multi-mode adaptive control method for safe and compliant rehabilitation training.
- To enhance patient engagement and ensure safety across different recovery phases.
Main Methods:
- Patient motion intention and motor ability are assessed via human-robot interaction force.
- A multi-mode controller switches between robot-dominant, patient-dominant, and safety-stop modes.
- Adaptive control adjusts assistance and impedance in robot-dominant mode; speed in patient-dominant mode.
Main Results:
- The controller adaptively adjusts assistance and impedance based on patient data.
- The system successfully switches between training modes, prioritizing safety.
- Lyapunov theory confirmed the stability of the adaptive controller across all modes.
Conclusions:
- The proposed multi-mode adaptive controller offers a safe and effective rehabilitation strategy.
- This approach personalizes rehabilitation by adapting to patient capabilities and intentions.
- Simulation results validate the controller's effectiveness in diverse rehabilitation scenarios.
