Development of a “transparent operation mode” for a lower-limb exoskeleton designed for children with cerebral palsy

R. Andrade, Stefano Sapienza, P. Bonato
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引用次数: 22

Abstract

Robot-assisted rehabilitation in children and young adults with Cerebral Palsy (CP) is expected to lead to neuroplasticity and reduce the burden of motor impairments. For a lower-limb exoskeleton to perform well in this context, it is essential that the robot be "transparent" to the user and produce torques only when voluntarily-generated motor outputs deviate significantly from the target trajectory. However, the development of transparent operation modes and assistance-as-need control schema are still open problems with several implementation challenges. This paper presents a theoretical approach and provides a discussion of the key issues pertinent to designing a transparent operation mode for a lower-limb exoskeleton suitable for children and young adults with CP. Based on the dynamics of exoskeletons as well as friction models and human-robot interaction models, we propose a control strategy aimed to minimize human-machine interaction forces when subjects generate motor outputs that match the target trajectory. The material is presented as a conceptual framework that can be generalized to other exoskeleton systems for overground walking.
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为脑瘫儿童设计的下肢外骨骼“透明操作模式”的开发
机器人辅助脑性麻痹(CP)儿童和青少年康复有望导致神经可塑性和减轻运动损伤的负担。为了让下肢外骨骼在这种情况下表现良好,机器人必须对用户“透明”,并且只有在自动产生的电机输出明显偏离目标轨迹时才产生扭矩。然而,透明的操作模式和随需应变的控制模式的发展仍然是一个悬而未决的问题,面临着一些实施方面的挑战。本文提出了一种理论方法,并讨论了与设计适合儿童和青少年CP的下肢外骨骼透明操作模式相关的关键问题。基于外骨骼动力学以及摩擦模型和人机交互模型,我们提出了一种控制策略,旨在最大限度地减少受试者产生匹配目标轨迹的电机输出时的人机交互力。该材料是作为一个概念框架提出的,可以推广到其他外骨骼系统的地面行走。
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