The design and control of a 3DOF lower limb rehabilitation robot

Abstract Aiming to assist stroke patients who suffer from motor dysfunction after stroke and reduce the stress of physiotherapists, a 3-degree-of-freedom (3DOF) lower limb rehabilitation robot (LLRR) has been developed for the motion recovery in this paper. At first, a simple and flexible structure of LLRR is designed, which involves hip, knee and ankle joints and can also be adjusted to fit for the different heights of patients. Then, for the controller design, control-oriented model of LLRR is studied and validated by both simulation and experiments, including the kinematic model of mechanical system, friction model of rotation joints and motor model of actuators. Based on the proposed models, an adaptive robust sub-controller is synthesized to make each joint track its designed training trajectory, overcome system uncertainties and reject the disturbances from patient. At last, experiments are carried out to validate the proposed LLRR by the passive movement training.

[1]  David A. Winter,et al.  Biomechanics and Motor Control of Human Movement , 1990 .

[2]  Peter Martin,et al.  A neuro-fuzzy approach to real-time trajectory generation for robotic rehabilitation , 2014, Robotics Auton. Syst..

[3]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[4]  Youn-Sung Choi,et al.  Development of the exoskeleton knee rehabilitation robot using the linear actuator , 2012 .

[5]  Constantinos Mavroidis,et al.  Active Knee Rehabilitation Orthotic Device With Variable Damping Characteristics Implemented via an Electrorheological Fluid , 2010, IEEE/ASME Transactions on Mechatronics.

[6]  J. Fung,et al.  Faster Is Better: Implications for Speed-Intensive Gait Training After Stroke , 2004, Stroke.

[7]  Jun-ichi Imura,et al.  Adaptive robust control of robot manipulators-theory and experiment , 1994, IEEE Trans. Robotics Autom..

[8]  Yutaka Tomita,et al.  TEM: a therapeutic exercise machine for the lower extremities of spastic patients , 2001, Adv. Robotics.

[9]  D B Matchar,et al.  Incidence and occurrence of total (first-ever and recurrent) stroke. , 1999, Stroke.

[10]  Daniel P. Ferris,et al.  Powered lower limb orthoses for gait rehabilitation. , 2005, Topics in spinal cord injury rehabilitation.

[11]  P. Langhorne,et al.  Motor recovery after stroke: a systematic review , 2009, The Lancet Neurology.

[12]  T. Olsen,et al.  Recovery of walking function in stroke patients: the Copenhagen Stroke Study. , 1995, Archives of physical medicine and rehabilitation.

[13]  Chou-Ching K. Lin,et al.  A rehabilitation robot with force-position hybrid fuzzy controller: hybrid fuzzy control of rehabilitation robot , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[14]  A. Mayr,et al.  Prospective, Blinded, Randomized Crossover Study of Gait Rehabilitation in Stroke Patients Using the Lokomat Gait Orthosis , 2007, Neurorehabilitation and neural repair.

[15]  A. Mirelman,et al.  Effects of Training With a Robot-Virtual Reality System Compared With a Robot Alone on the Gait of Individuals After Stroke , 2009, Stroke.

[16]  Peter Levine,et al.  Modified Constraint-Induced Therapy in Acute Stroke: A Randomized Controlled Pilot Study , 2005, Neurorehabilitation and neural repair.

[17]  S. Hesse,et al.  Gait pattern of severely disabled hemiparetic subjects on a new controlled gait trainer as compared to assisted treadmill walking with partial body weight support , 1999, Clinical rehabilitation.

[18]  H. van der Kooij,et al.  Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation , 2007, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[19]  Jie Li,et al.  Robust Adaptive Control for a Class of Uncertain Nonlinear Systems with Time-Varying Delay , 2013, TheScientificWorldJournal.

[20]  Alberto Monteiro,et al.  Lower Limb Rehabilitation , 2011 .

[21]  A. Gentile,et al.  Rehabilitation of reaching after stroke: task-related training versus progressive resistive exercise. , 2004, Archives of physical medicine and rehabilitation.

[22]  Shahid Hussain,et al.  Control of a robotic orthosis for gait rehabilitation , 2013, Robotics Auton. Syst..

[23]  Erhan Akdoğan,et al.  The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot , 2011 .

[24]  Hongxing Yang,et al.  Energy and Environment: Challenges and Achievements in Rapid Urbanization , 2013, The Scientific World Journal.

[25]  Daniel P. Ferris,et al.  A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition , 2009, Journal of NeuroEngineering and Rehabilitation.

[26]  S. Hesse,et al.  Upper and lower extremity robotic devices for rehabilitation and for studying motor control , 2003, Current opinion in neurology.

[27]  Shankar P. Bhattacharyya,et al.  Robust Control: The Parametric Approach , 1995 .

[28]  Mark Hawley,et al.  NeXOS – The design, development and evaluation of a rehabilitation system for the lower limbs , 2009 .

[29]  Jacek Kitowski,et al.  Multimedia holistic rehabilitation method for patients after stroke-efficiency analysis. , 2010, Studies in health technology and informatics.

[30]  R. Riener,et al.  Patient-cooperative strategies for robot-aided treadmill training: first experimental results , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.