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The synergy of human arm and robotic system.

机译：人手臂与机器人系统的协同作用。

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摘要

The synergy of human arm and wearable robot systems studies the compatibility of a wearable robot system and its operators. Ideally, the motion of a wearable robot system should be dynamically transparent to a healthy operator, sensitively responsible to the voluntary and involuntary motions of its operator. When used for robot-assisted stroke rehabilitation and/or power augmentation, a wearable robot system is expected to provide assist to the operator's motor skills and correct the abnormal movements resulted from motor disabilities. Inspired by the control strategies of human motor system, the robot systems can be more dexterous in manipulations and more adaptable to various tasks and uncertain environments.;The study on synergy of human arm and wearable robot systems intends to find out the motor control strategies that dominate human arm movements, in order to apply to the control of robotic systems, such as the upper limb exoskeletons and the surgical robot systems. This research experimentally investigated the arm movements in various tasks, to enhance the understanding of human motor control and to benefit the control robotic systems. With the data collected from point-to-point reaching movements, it proposed a redundancy resolution methodology based on multi-criterion performance optimization, which provides real-time predictions of arm postures with improved accuracy. Based on the comparison between reaching and reach-to-grasp movements, it further studied arm postures affected by grasping orientations and pointed out the control strategy that dominates the macro- and micro- structure coordination. From both healthy subjects and stroke patients, experimental data of unimanual and bimanual movements are recorded for identical tasks. The statistical analysis shows that motor function of the paretic arm can be improved when moving symmetrically with the non-paretic arm, which reveals the beneficial effects of the inter-arm coupling on stroke rehabilitation.;The dissertation contributed to answer the following three research questions: • How to predict the natural arm postures of reaching movement? The kinematic redundancy of the human arm enables the elbow position to rotate about the axis going through the shoulder and wrist, which results in infinite possible arm postures when the arm reaches to a target in a 3-dimensional workspace. To infer the control strategy the human motor system uses to resolve redundancy in reaching movements, this research compares five redundancy resolution criteria and evaluates their arm posture prediction performance using data on healthy human motion. Two synthesized criteria are developed to provide better real-time arm posture prediction than the five individual criteria. Of these two, the criterion synthesized using an exponential method predicts the arm posture more accurately than that using a least squares approach, and therefore is preferable for inferring the contributions of the individual criteria to motor control during reaching movements. As a methodology contribution, this paper proposes a framework to compare and evaluate redundancy resolution criteria for arm motion control. A cluster analysis which associates criterion contributions with regions of the workspace provides a guideline for designing a real-time motion control system applicable to upper-limb exoskeletons for stroke rehabilitation.;• How do the arm joints coordinate in reach-to-grasp movement? Reach-to-grasp movements are widely observed in activities of daily living, particularly in tool manipulations. In order to reduce the complexity in redundancy resolution and facilitate upper-limb exoskeleton control in reach-to-grasp tasks, we studied joint coordination in the human arm during such movements. Experimental data were collected on reach-to-grasp movements in a 3-dimensional (3D) workspace for cylinder targets of different positions and grasping orientations. For comparison, reaching movements toward the same targets are also recorded. In the kinematic analysis, the redundant degree of freedom in human arm is represented by the swivel angle. The four grasping-relevant degrees of freedom (GR-DOFs), including the swivel angle and the three wrist joints, behave differently in reach-to-grasp movements comparing to how they behave in reaching movements. The ratio of active motion range (R-AMR) is proposed for quantitatively comparison the task-relevance of the GR-DOFs. Analysis on the R-AMR values shows that the task-relevant GR-DOFs are more actively used, while the task-irrelevant joints are left uncontrolled and maintain their neutral positions. Among the task-relevant GR-DOFs, the smaller joints (micro-structure) are more actively used than the larger joints (macro-structure). The coordination of the task-relevant GR-DOFs is shown to be synergistic. Analysis of the acceleration/deceleration at the GR-DOFs indicates different levels of voluntary control in three phases of the movements. The study of the characteristics of the joint coordination in reach-to-grasp movements provides guidelines for simplifying the control of the upper limb exoskeleton.;• Can the bilateral training benefit the post-stroke stroke recovery? Bilateral training has been used for post-stroke rehabilitation of patients with paretic upper arms. This training method exploits the inter-arm coupling in bimanual movements which tends to synchronize the paretic arm with the non-paretic arm for motor function recovery. Different levels of motor function recovery have been reported in clinical studies, yet the efficacy of bilateral training is still not clear. As a result, this paper collected data on bimanual symmetric reaching movements in a 3-dimensional (3D) workspace from ten healthy subjects and eight chronic stroke patients, to investigate the effects of inter-arm coupling. In reaching experiments, identical tasks are also performed unimanually and recorded. Mapping variables are proposed to measure arm behavior changes and to quantify the similarity of the movements of the two arms. Among the four proposed mapping variables, mapping linearity and mapping complexity were found to reflect both the motion complexity and the task-relevance of a joint, while the other two variables captured changes in motion range and relative velocity. Statistical analysis shows that inter-arm coupling increases inter-arm symmetry more at task-relevant joints than at task-irrelevant joints. To achieve symmetric bimanual movement, the dominant arm of healthy subjects and the non-paretic arm of stroke patients deviate more from their unilateral behavior than the non-dominant/paretic arms. For stroke patients, the effect of inter-arm coupling on arm function depends on the task-relevance of a joint. During bimanual movement, joint behavior at task-irrelevant joints is different from behavior during unimanual movement, which implies that bimanual rehabilitation may help break abnormal movement patterns for these joints. For task-relevant joints, the average arm posture of the paretic arm is significantly higher in bimanual movement, which indicates the possible efficacy of bilateral rehabilitation.
机译：人手臂与可穿戴机器人系统的协同作用研究了可穿戴机器人系统及其操作员的兼容性。理想情况下，可穿戴机器人系统的运动对健康的操作员应该是动态透明的，并对操作员的自愿和非自愿运动敏感。当用于机器人辅助的中风康复和/或增力时，可穿戴的机器人系统有望为操作员的运动技能提供帮助，并纠正由运动障碍导致的异常运动。受人类电机系统控制策略的启发，该机器人系统在操作上更加灵巧，并且更适应各种任务和不确定的环境。为了控制机器人系统（例如上肢外骨骼和外科手术机器人系统），机器人在人体手臂运动中起着举足轻重的作用。这项研究通过实验研究了手臂在各种任务中的运动，以增进对人的电机控制的理解，并使控制机器人系统受益。利用从点到点到达运动收集的数据，它提出了一种基于多准则性能优化的冗余解决方法，该方法可以提高手臂的姿势的实时预测。在比较伸手和伸手抓握运动的基础上，它进一步研究了受抓握方向影响的手臂姿势，并指出了控制宏观和微观结构协调的控制策略。从健康受试者和中风患者中，记录相同任务的单手和双手运动的实验数据。统计分析表明，与非运动臂对称运动时，运动臂的运动功能可以得到改善，这揭示了运动臂间耦合对中风康复的有益作用。 ：•如何预测达到运动的自然手臂姿势？人手臂的运动学冗余性使肘部位置可以绕着穿过肩膀和手腕的轴旋转，当手臂到达3维工作空间中的目标时，这会导致手臂姿势无限可能。为了推断人类电机系统用来解决运动中的冗余的控制策略，本研究比较了五个冗余分辨率标准，并使用有关健康人体运动的数据评估了其手臂姿势预测性能。开发了两个综合标准，以提供比五个独立标准更好的实时手臂姿势预测。在这两个标准中，使用指数法合成的准则比使用最小二乘法更准确地预测手臂姿势，因此，在推断运动中各个准则对运动控制的贡献时，这是优选的。作为方法论的贡献，本文提出了一个框架，用于比较和评估手臂运动控制的冗余解决方案标准。将标准贡献与工作空间区域相关联的聚类分析为设计适用于上肢外骨骼进行中风康复的实时运动控制系统提供了指导原则；•手臂关节如何在触手可及的运动中进行协调？在日常活动中，尤其是在工具操作中，普遍可以达到抓握运动。为了降低冗余解决方案的复杂性并在上手抓握任务中方便上肢外骨骼控制，我们研究了此类动作中人手臂的关节协调。在3D（3D）工作空间中针对不同位置和抓握方向的圆柱目标的可抓握运动收集实验数据。为了比较，还记录了朝相同目标的移动。在运动学分析中，人体手臂的多余自由度由旋转角度表示。四个与抓取相关的自由度（GR-DOF），包括旋转角度和三个腕关节，在抓握运动中的行为与其在举手运动中的行为不同。提出了主动运动范围的比率（R-AMR），用于定量比较GR-DOF的任务相关性。对R-AMR值的分析表明，与任务相关的GR-DOF被更积极地使用，而与任务无关的关节则不受控制并保持其中立位置。在与任务相关的GR-DOF中，较小的接头（微结构）比较大的接头（宏结构）更活跃。与任务相关的GR-DOF的协调显示出协同作用。对GR-DOF的加速/减速进行的分析表明，在运动的三个阶段中，不同级别的自愿控制。对伸手抓紧运动中关节协调特征的研究为简化上肢外骨骼的控制提供了指导。；•双边训练对中风后中风的恢复有益吗？双边训练已被用于具有上臂的患者的卒中后康复。这种训练方法利用了手臂间的双向运动耦合，这种运动倾向于使to骨臂与非par骨臂同步，以恢复运动功能。在临床研究中已经报道了不同程度的运动功能恢复，但是双边训练的效果仍不清楚。结果，本文收集了来自十名健康受试者和八名慢性卒中患者在3维（3D）工作空间中的双向对称到达运动的数据，以研究手臂间耦合的影响。在进行实验时，同样的任务也可以单人执行并记录下来。建议使用映射变量来测量手臂行为的变化并量化两个手臂运动的相似性。在提出的四个映射变量中，发现映射线性和映射复杂度可以反映关节的运动复杂度和任务相关性，而其他两个变量则捕获了运动范围和相对速度的变化。统计分析表明，与任务无关的关节比与任务无关的关节，手臂间的耦合增加了手臂间的对称性。为了实现对称的双向运动，健康受试者的优势臂和中风患者的非前臂比非优势/前臂更偏离其单方面行为。对于中风患者，手臂间联接对手臂功能的影响取决于关节的任务相关性。在双手运动过程中，与任务无关的关节处的关节行为与单身运动过程中的行为不同，这意味着双手康复可能有助于打破这些关节的异常运动方式。对于与任务相关的关节，双向运动中，仿生手臂的平均手臂姿势明显更高，这表明可能进行双侧康复。

著录项

  • 作者

    Li, Zhi.;

  • 作者单位

    University of California, Santa Cruz.;

  • 授予单位 University of California, Santa Cruz.;
  • 学科 Robotics.;Physiology.;Mechanical engineering.
  • 学位 Ph.D.
  • 年度 2014
  • 页码 269 p.
  • 总页数 269
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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