Dataset Information

Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot.

ABSTRACT: This paper focuses on the design, modeling, and control of a novel remote actuation, including a compact rotary series elastic actuator (SEA) and Bowden cable. This kind of remote actuation is used for an upper limb rehabilitation robot (ULRR) with four powered degrees of freedom (DOFs). The SEA mainly consists of a DC motor with planetary gearheads, inner/outer sleeves, and eight linearly translational springs. The key innovations include (1) an encoder for direct spring displacement measurement, which can be used to calculate the output torque of SEA equivalently, (2) the embedded springs can absorb the negative impact of backlash on SEA control performance, (3) and the Bowden cable enables long-distance actuation and reduces the bulky structure on the robotic joint. In modeling of this actuation, the SEA's stiffness coefficient, the dynamics of the SEA, and the force transmission of the Bowden cable are considered for computing the inputs on each powered joint of the robot. Then, both torque and impedance controllers consisting of proportional-derivative (PD) feedback, disturbance observer (DOB), and feedforward compensation terms are developed. Simulation and experimental results verify the performance of these controllers. The preliminary results show that this new kind of actuation can not only implement stable and friendly actuation over a long distance but also be customized to meet the requirements of other robotic system design.

SUBMITTER: Zhang Q

PROVIDER: S-EPMC7052376 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature

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Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot.

Zhang Qiang Q Sun Dingyang D Qian Wei W Xiao Xiaohui X Guo Zhao Z

Frontiers in neurorobotics 20200225

This paper focuses on the design, modeling, and control of a novel remote actuation, including a compact rotary series elastic actuator (SEA) and Bowden cable. This kind of remote actuation is used for an upper limb rehabilitation robot (ULRR) with four powered degrees of freedom (DOFs). The SEA mainly consists of a DC motor with planetary gearheads, inner/outer sleeves, and eight linearly translational springs. The key innovations include (1) an encoder for direct spring displacement measuremen ...[more]

PMID: 32161531

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Project description:BackgroundIntensive robot-assisted training of the upper limb after stroke can reduce motor impairment, even at the chronic stage. However, the effectiveness of practice for recovery depends on the selection of the practised movements. We hypothesized that rehabilitation can be optimized by selecting the movements to be practiced based on the trainee's performance profile.MethodsWe present a novel principle ('steepest gradients') for performance-based selection of movements. The principle is based on mapping motor performance across a workspace and then selecting movements located at regions of the steepest transition between better and worse performance. To assess the benefit of this principle we compared the effect of 15 sessions of robot-assisted reaching training on upper-limb motor impairment, between two groups of people who have moderate-to-severe chronic upper-limb hemiparesis due to stroke. The test group (N = 7) received steepest gradients-based training, iteratively selected according to the steepest gradients principle with weekly remapping, whereas the control group (N = 9) received a standard "centre-out" reaching training. Training intensity was identical.ResultsBoth groups showed improvement in Fugl-Meyer upper-extremity scores (the primary outcome measure). Moreover, the test group showed significantly greater improvement (twofold) compared to control. The score remained elevated, on average, for at least 4 weeks although the additional benefit of the steepest-gradients -based training diminished relative to control.ConclusionsThis study provides a proof of concept for the superior benefit of performance-based selection of practiced movements in reducing upper-limb motor impairment due to stroke. This added benefit was most evident in the short term, suggesting that performance-based steepest-gradients training may be effective in increasing the rate of initial phase of practice-based recovery; we discuss how long-term retention may also be improved.Trial registrationISRCTN, ISRCTN65226825 , registered 12 June 2018 - Retrospectively registered.

Dataset Information

Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot.

Publications

Modeling and Control of a Cable-Driven Rotary Series Elastic Actuator for an Upper Limb Rehabilitation Robot.

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