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Impedance Adaptive Controller for a Prototype of a Whiplash Syndrome Rehabilitation Device

机译：用于鞭打综合征康复装置的原型的阻抗自适应控制器

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The objective of this study was to design of an output based impedance adaptive controller for a special class of cervical orthoses, a class of biomedical devices for the rehabilitation of neck illnesses. The controller used the adaptive sliding mode theory to enforce the tracking of the reference trajectory if the patient was not resistant to the therapy. If the patient rejects the orthosis activity, a second impedance-based controller governs the orthosis movement allowing the patient to take the leading role in the orthosis sequence of movements. The proposed controller considers a weighted controller combining the tracking and the impedance controls in a single structure. The monitoring of the external force was evaluated on a novel weighting function defining on-line the role of each controller. The proposed orthosis was motivated by the prevalence of whiplash, which is a syndrome that is produced by forced hyperextension and hyperflexion of the neck. This study included the development of a technological prototype of the orthotic type to support the recovery of patients diagnosed with whiplash. The sections that make up the orthotic device are two independent systems that move the patient's head in the sagittal and frontal planes. For this purpose, the mechanical structure of the cervical orthosis was made up of 7 pieces printed in 3D with polylactic acid (PLA). The operation of the cervical orthosis was evaluated in two sections: (a) using a simulation system, which consists of a spring with an artificial head and the development of a graphic interface in Matlab, and (b) evaluating the controller on the proposed orthosis. With these elements, the follow-up of the trajectory proposed by the actuators was evaluated, as well as its performance in the face of the opposition that a patient generates. The superiority of the proposed controller was confirmed by comparing the tracking efficiency with proportional-integral-derivative and first-order sliding variants.
机译：本研究的目的是设计一种基于输出的阻抗自适应控制器，用于特殊类的颈椎矫形器，一类生物医学装置，用于颈部疾病的康复。控制器使用自适应滑动模式理论，如果患者不抵抗治疗，则使用自适应滑动模式理论来执行参考轨迹的跟踪。如果患者拒绝矫形活动，则基于第二阻抗的控制器控制允许患者在矫形器的运动序列中产生主导作用的矫形器运动。所提出的控制器认为加权控制器组合了单个结构中的跟踪和阻抗控制。在小型加权函数上评估了对外力的监测，该重量函数定义了每个控制器的角色。拟议的矫形症是通过鞭打的患病率的激励，这是一种通过强制过度伸展和颈部过度强调产生的综合症。本研究包括开发矫形类型的技术原型，以支持患有鞭打的患者的恢复。构成矫形器件的部分是两个独立的系统，将患者头部移动到矢状和正面平面中。为此目的，宫颈矫形器的机械结构由3D与聚乳酸（PLA）印刷的7件组成。在两个部分中评估宫颈矫形器的操作：（a）使用模拟系统，该模拟系统由具有人工头部的弹簧和Matlab中的图形界面的开发，（b）在提出的矫形器上评估控制器。利用这些元素，评估由致动器提出的轨迹的随访，以及对患者产生的反对者面临的性能。通过将跟踪效率与比例整体衍生物和一阶滑动变体进行比较来确认所提出的控制器的优越性。

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  • 来源
    《Mathematical Problems in Engineering》 |2019年第12期|9604179.1-9604179.21|共21页
  • 作者

    Guzman-Victoria Isai; Salgado-Ramos Ivan; Mera-Hernandez Manuel; Chairez Isaac; Ahmed Hafiz;

  • 作者单位

    Inst Politecn Nacl Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico;

    Inst Politecn Nacl Ctr Invest & Desarrollo Tecnol Computo Mexico City DF Mexico;

    Inst Politecn Nacl Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico|Inst Politecn Nacl Escuela Super Ingn Mecan & Elect Ticoman Mexico City DF Mexico;

    Inst Politecn Nacl Unidad Profes Interdisciplinaria Biotecnol Mexico City DF Mexico|Inst Tecnol Estudios Super Monterrey Escuela Engn Campus Guadalajara Guadalajara Jalisco Mexico;

    Coventry Univ Priory St Coventry CV1 5FB W Midlands England;

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