Study on motion performance of robot-aided passive rehabilitation exercises using novel dynamic motion planning strategy

Author:

Pan Lizheng12ORCID,Song Aiguo2,Duan Suolin1,Shi Xianchuan1

Affiliation:

1. School of Mechanical Engineering, Changzhou University, Changzhou, People’s Republic of China

2. Remote Measurement and Control Key Lab of Jiangsu Province, School of Instrument Science and Engineering, Southeast University, Nanjing, People’s Republic of China

Abstract

The motion rehabilitation training robot is developed to help patients with motion dysfunction recover their motor function by providing a large amount of repetitive robot-aided exercise. To achieve stable and smooth robot-aided exercises for stroke patients, a motion control method with a novel dynamic motion planning strategy is proposed. The physical state of the training limb is assessed real time during the rehabilitation exercises. The dynamic motion planning strategy is developed by employing a suitable interpolation method dynamically corresponding to the physical state of the training limb to plan a trajectory tracking system that completely utilizes different interpolation characteristics to manage the movement in accordance with the time-varying physical state of the training limb. Concurrently, a position-based impedance control is adopted to achieve compliant movement. Functional (quantitative and qualitative) and clinical experiments are conducted on a four-degree-of-freedom whole-arm manipulator upper limb rehabilitation robot to verify the effectiveness of the control method designed with the dynamic motion planning strategy. The results indicate that the proposed control strategy can exhibit better performances in terms of the stability and smoothness.

Funder

Industrial Technology Project Foundation of ChangZhou Government

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

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