Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation

In this paper, a master-slave control system is proposed and applied in an intention-actuated exoskeletal robot to assist user locomotion and lower extremity rehabilitation simultaneously. In particular, to increase users’ sense of participation, the motion of the exoskeleton and the wheelchair, which is denoted as slave motion in this study, is actuated by the user’s intention, which is denoted as master motion and thus makes patients feel that they are moving the wheelchair. This master-slave motion control system can help to eliminate patients’ fear of medical apparatus and instruments. The bicycling motion actuated by one motor is implemented to realize the rehabilitation motion exercise. Experimental results validate a position-force control strategy for the exoskeleton motors, and show that the proposed method can help users to move around and to exercise their legs simultaneously and effectively.

[1]  G. Mulley.  Principles of rehabilitation , 1994 .

[2]  Marcia Kilchenman O'Malley,et al.  Design, Control and Performance of RiceWrist: A Force Feedback Wrist Exoskeleton for Rehabilitation and Training , 2008, Int. J. Robotics Res..

[3]  Xuechao Chen,et al.  Design and simulation of leg exoskeleton cycling-actuated wheelchair , 2017 .

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

[5]  Kyoungchul Kong,et al.  Design and control of an exoskeleton for the elderly and patients , 2006, IEEE/ASME Transactions on Mechatronics.

[6]  Chang-Soo Han,et al.  Gait patterns of chronic ambulatory hemiplegic elderly compared with normal Age-Matched elderly , 2015 .

[7]  Byoung-Sun Park,et al.  The effects of aquatic trunk exercise on gait and muscle activity in stroke patients: a randomized controlled pilot study , 2015, Journal of physical therapy science.

[8]  S.K. Agrawal,et al.  Active Leg Exoskeleton (ALEX) for Gait Rehabilitation of Motor-Impaired Patients , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[9]  Jianwei Zhang,et al.  Design and control strategy of robotic spinal surgical system , 2011, The 2011 IEEE/ICME International Conference on Complex Medical Engineering.

[10]  Hua Yan,et al.  Lower Limb Exoskeleton Using Recumbent Cycling Modality for Post-stroke Rehabilitation , 2013, ICIRA.

[11]  Mahdi Tavakoli,et al.  Absolute Stability Analysis of Sampled-Data Scaled Bilateral Teleoperation Systems , 2013 .

[12]  P. Heuschmann,et al.  Incidence of stroke in Europe at the beginning of the 21st century. , 2009, Stroke.

[13]  Meigen Liu,et al.  Effect of Pedaling Exercise on the Hemiplegic Lower Limb , 2003, American journal of physical medicine & rehabilitation.

[14]  Mahdi Tavakoli,et al.  Stability and performance in delayed bilateral teleoperation: Theory and experiments , 2008 .

[15]  Noboru Noguchi,et al.  Development of a master-slave robot system for farm operations , 2004 .

[16]  Leo R. Quinlan,et al.  Human Centred Design Considerations for Connected Health Devices for the Older Adult , 2014, Journal of personalized medicine.

[17]  Chang-Yong Ko,et al.  New wearable exoskeleton for gait rehabilitation assistance integrated with mobility system , 2016 .

[18]  Jiameng Fan,et al.  A master-slave control system for lower limb rehabilitation robot with pedal-actuated exoskeleton , 2016, 2016 IEEE International Conference on Real-time Computing and Robotics (RCAR).

[19]  R. Riener,et al.  Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT , 2005, 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005..

[20]  D. Reinkensmeyer,et al.  Review of control strategies for robotic movement training after neurologic injury , 2009, Journal of NeuroEngineering and Rehabilitation.

[21]  Shuxiang Guo,et al.  Design of a master-slave rehabilitation system using self-tuning fuzzy PI controller , 2012, 2012 IEEE International Conference on Mechatronics and Automation.

[22]  Yih-Kuen Jan,et al.  Rehabilitation Engineering and Assistive Technology Society of North America’s Position on the Application of Tilt, Recline, and Elevating Legrests for Wheelchairs Literature Update , 2015, Assistive technology : the official journal of RESNA.

[23]  Sang-Ryong Lee,et al.  Motion control of bicycle-riding exoskeleton robot with interactive force analysis , 2015 .

[24]  Chang-Soo Han,et al.  The technical trend of the exoskeleton robot system for human power assistance , 2012 .

[25]  G. Ferrigno,et al.  A biofeedback cycling training to improve locomotion: a case series study based on gait pattern classification of 153 chronic stroke patients , 2011, Journal of NeuroEngineering and Rehabilitation.

[26]  C. Patten,et al.  Weakness and strength training in persons with poststroke hemiplegia: rationale, method, and efficacy. , 2004, Journal of rehabilitation research and development.

[27]  Tao Liu,et al.  Design and Implementation of a Compact Master-Slave Robotic System with Force Feedback and Energy Recycling* , 2010 .

[28]  J. J. Gil,et al.  Lower-Limb Robotic Rehabilitation: Literature Review and Challenges , 2011, J. Robotics.

[29]  Yoichi Hori,et al.  One-handed propulsion control of power-assisted wheelchair with advanced turning mode , 2014, 2014 IEEE 13th International Workshop on Advanced Motion Control (AMC).

[30]  Qiang Huang,et al.  Impact motion control of humanoid robot BHR-5 based on the energy integral method , 2016 .

[31]  Yasunobu Handa,et al.  A test of controlling different muscles in FES cycling with cycling wheelchair "Profhand" , 2014, 2014 IEEE 19th International Functional Electrical Stimulation Society Annual Conference (IFESS).

[32]  Jerry E. Pratt,et al.  The RoboKnee: an exoskeleton for enhancing strength and endurance during walking , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[33]  Huaizhong Li,et al.  Gradient-guided color image contrast and saturation enhancement , 2017 .

[34]  Marco Ceccarelli,et al.  A Pedal-actuated Wheelchair with a Leg Exoskeleton , 2015 .

[35]  Tao Liu,et al.  A master-slave control system with energy recycling and force sensing for upper limb rehabilitation robots , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[36]  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.

[37]  J. Duysens,et al.  Gait recovery is not associated with changes in the temporal patterning of muscle activity during treadmill walking in patients with post-stroke hemiparesis , 2006, Clinical Neurophysiology.