Adaptive Assist-as-needed Upper Limb Mirror Control Strategy

LI Huijun; HU Shanshan; SONG Aiguo

doi:10.11999/JEIT211001

Volume 44 Issue 2

Feb. 2022

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LI Huijun, HU Shanshan, SONG Aiguo. Adaptive Assist-as-needed Upper Limb Mirror Control Strategy[J]. Journal of Electronics & Information Technology, 2022, 44(2): 437-445. doi: 10.11999/JEIT211001

Citation:

LI Huijun, HU Shanshan, SONG Aiguo. Adaptive Assist-as-needed Upper Limb Mirror Control Strategy[J]. Journal of Electronics & Information Technology, 2022, 44(2): 437-445. doi: 10.11999/JEIT211001

LI Huijun, HU Shanshan, SONG Aiguo. Adaptive Assist-as-needed Upper Limb Mirror Control Strategy[J]. Journal of Electronics & Information Technology, 2022, 44(2): 437-445. doi: 10.11999/JEIT211001

Citation:

LI Huijun, HU Shanshan, SONG Aiguo. Adaptive Assist-as-needed Upper Limb Mirror Control Strategy[J]. Journal of Electronics & Information Technology, 2022, 44(2): 437-445. doi: 10.11999/JEIT211001

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Adaptive Assist-as-needed Upper Limb Mirror Control Strategy

doi: 10.11999/JEIT211001

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Funds: The National Key Research and Development Plan (2017YFB1303201)

Received Date: 2021-09-18
Accepted Date: 2022-01-20
Rev Recd Date: 2022-01-18

Available Online: 2022-01-22

Publish Date: 2022-02-25

Abstract

Abstract

In order to improve the initiative of hemiplegic patients and system anti-interference in the mirror rehabilitation training process, an upper limb mirror control strategy based on adaptive assist-as-needed is proposed. The strategy includes mainly two modules: mirror control and adaptive assist-as-needed control. The mirror module collects the position of the healthy side to calculate the desired position of the affected side, and compares it with the actual position of the affected side to obtain the position deviation; The adaptive assist-as-needed module combines thetraditional impedance control and the method for evaluating the movement state of the affected limb, automatically adjusts the auxiliary force to the affected limb in real time to maximize the active torque of the affected limb. Two experiments are designed to verify the effect of this strategy on patient initiative and system anti-interference. The experimental results show that the use of the proposed method for the mirror rehabilitation training system reduces effectively the average auxiliary force by 56.9%, and the position accuracy of the affected limb that follows the healthy limb is 5.6%, and the proposed method can effectively compensate 89% of the interfering external force. Therefore, the method improves effectively the initiative of the trainer, and at the same time has good anti-interference, and meets the requirements of mirror rehabilitation training.
- Mirror rehabilitation training,
- Adaptive assist-as-needed,
- Impedance control,
- Initiative,
- Anti-interference

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References(22)

References

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