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首页> 美国卫生研究院文献>Frontiers in Neurorobotics >Bio-Cooperative Approach for the Human-in-the-Loop Control of an End-Effector Rehabilitation Robot
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Bio-Cooperative Approach for the Human-in-the-Loop Control of an End-Effector Rehabilitation Robot

机译：生物协作方法对末端执行器康复机器人的在环控制

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The design of patient-tailored rehabilitative protocols represents one of the crucial factors that influence motor recovery mechanisms, such as neuroplasticity. This approach, including the patient in the control loop and characterized by a control strategy adaptable to the user's requirements, is expected to significantly improve functional recovery in robot-aided rehabilitation. In this paper, a novel 3D bio-cooperative robotic platform is developed. A new arm-weight support system is included into an operational robotic platform for 3D upper limb robot-aided rehabilitation. The robotic platform is capable of adapting therapy characteristics to specific patient needs, thanks to biomechanical and physiological measurements, and thus closing the subject in the control loop. The level of arm-weight support and the level of the assistance provided by the end-effector robot are varied on the basis of muscular fatigue and biomechanical indicators. An assistance-as-needed approach is applied to provide the appropriate amount of assistance. The proposed platform has been experimentally validated on 10 healthy subjects; they performed 3D point-to-point tasks in two different conditions, i.e., with and without assistance-as-needed. The results have demonstrated the capability of the proposed system to properly adapt to real needs of the patients. Moreover, the provided assistance was shown to reduce the muscular fatigue without negatively influencing motion execution.
机译：为患者量身定制的康复方案的设计代表了影响运动恢复机制（例如神经可塑性）的关键因素之一。这种方法，包括控制回路中的患者，其特点是可适应用户需求的控制策略，有望显着改善机器人辅助康复中的功能恢复。在本文中，开发了一种新颖的3D生物合作机器人平台。一个新的手臂支撑系统已包含在可操作的机器人平台中，用于3D上肢机器人辅助的康复。由于生物力学和生理学测量，该机器人平台能够使治疗特性适应特定患者的需求，从而使受试者处于控制回路中。末端执行器机器人提供的手臂重量支撑和协助水平根据肌肉疲劳和生物力学指标而有所不同。采用了按需援助的方法来提供适当数量的援助。所提出的平台已在10位健康受试者上进行了实验验证；他们在两种不同的条件下执行3D点对点任务，即在有需要或没有帮助的情况下。结果证明了所提出的系统能够适当地适应患者的实际需求。而且，所提供的辅助被显示为减轻了肌肉疲劳，而没有负面影响运动的执行。

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