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Hierarchical safety supervisory control strategy for robot-assisted rehabilitation exercise

Published online by Cambridge University Press:  01 February 2013

Lizheng Pan ,
Aiguo Song ,
Guozheng Xu ,
Huijun Li ,
Baoguo Xu  and
Pengwen Xiong
Lizheng Pan
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China
Aiguo Song*
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China
Guozheng Xu
Affiliation:
College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210003, P. R. China
Huijun Li
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China
Baoguo Xu
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China
Pengwen Xiong
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P. R. China
*
*Corresponding author. E-mail: [email protected]
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Summary

Clinical outcomes have shown that robot-assisted rehabilitation is potential of enhancing quantification of therapeutic process for patients with stroke. During robotic rehabilitation exercise, the assistive robot must guarantee subject's safety in emergency situations, e.g., sudden spasm or twitch, abruptly severe tremor, etc. This paper presents a hierarchical control strategy, which is proposed to improve the safety and robustness of the rehabilitation system. The proposed hierarchical architecture is composed of two main components: a high-level safety supervisory controller (SSC) and low-level position-based impedance controller (PBIC). The high-level SSC is used to automatically regulate the desired force for a reasonable disturbance or timely put the emergency mode into service according to the evaluated physical state of training impaired limb (PSTIL) to achieve safety and robustness. The low-level PBIC is implemented to achieve compliance between the robotic end-effector and the impaired limb during the robot-assisted rehabilitation training. The results of preliminary experiments demonstrate the effectiveness and potentiality of the proposed method for achieving safety and robustness of the rehabilitation robot.

Keywords

Rehabilitation robotSafety and robustnessRehabilitation exerciseCompliance control
Type
Articles
Information
Robotica , Volume 31 , Issue 5 , August 2013 , pp. 757 - 766
Copyright
Copyright © Cambridge University Press 2013 

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