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A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot

The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability was developed for a...

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Detalles Bibliográficos
Autores principales: Qin, Li, Ji, Houzhao, Chen, Minghao, Wang, Ke
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256082/
https://www.ncbi.nlm.nih.gov/pubmed/37300038
http://dx.doi.org/10.3390/s23115311
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author Qin, Li
Ji, Houzhao
Chen, Minghao
Wang, Ke
author_facet Qin, Li
Ji, Houzhao
Chen, Minghao
Wang, Ke
author_sort Qin, Li
collection PubMed
description The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability was developed for a lower-limb rehabilitation exoskeleton robot (LLRER). In the outer loop, an adaptive trajectory generator that follows the gait cycle was devised to generate a harmonious hip–knee reference trajectory on the non-time-varying (NTV) phase space. In the inner loop, velocity control was adopted. By searching the minimum L2 norm between the reference phase trajectory and the current configuration, the desired velocity vectors in which encouraged and corrected effects can be self-coordinated according to the L2 norm were obtained. In addition, the controller was simulated using an electromechanical coupling model, and relevant experiments were carried out with a self-developed exoskeleton device. Both simulations and experiments validated the effectiveness of the controller.
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spelling pubmed-102560822023-06-10 A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot Qin, Li Ji, Houzhao Chen, Minghao Wang, Ke Sensors (Basel) Article The restricted posture and unrestricted compliance brought by the controller during human–exoskeleton interaction (HEI) can cause patients to lose balance or even fall. In this article, a self-coordinated velocity vector (SCVV) double-layer controller with balance-guiding ability was developed for a lower-limb rehabilitation exoskeleton robot (LLRER). In the outer loop, an adaptive trajectory generator that follows the gait cycle was devised to generate a harmonious hip–knee reference trajectory on the non-time-varying (NTV) phase space. In the inner loop, velocity control was adopted. By searching the minimum L2 norm between the reference phase trajectory and the current configuration, the desired velocity vectors in which encouraged and corrected effects can be self-coordinated according to the L2 norm were obtained. In addition, the controller was simulated using an electromechanical coupling model, and relevant experiments were carried out with a self-developed exoskeleton device. Both simulations and experiments validated the effectiveness of the controller. MDPI 2023-06-03 /pmc/articles/PMC10256082/ /pubmed/37300038 http://dx.doi.org/10.3390/s23115311 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Qin, Li
Ji, Houzhao
Chen, Minghao
Wang, Ke
A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title_full A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title_fullStr A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title_full_unstemmed A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title_short A Self-Coordinating Controller with Balance-Guiding Ability for Lower-Limb Rehabilitation Exoskeleton Robot
title_sort self-coordinating controller with balance-guiding ability for lower-limb rehabilitation exoskeleton robot
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10256082/
https://www.ncbi.nlm.nih.gov/pubmed/37300038
http://dx.doi.org/10.3390/s23115311
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