This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling...This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.展开更多
Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value ...Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a Lokomat group (30 cases) and a control group (30 cases). The Lokomat group received Lokomat rehabilitation while the control group only received traditional rehabilitation. The gait parameters and the balance ability were evaluated by the K421GAITRite analysis system and the Berg Balance Scale (BBS);ERP components including N100, N200, P200 and P300 potential were evaluated by a muscle electric inducing potentiometer. Results: There were no significant differences in BBS and gait parameters (P > 0.05), as well as in amplitude and incubation periods (IP) (P > 0.05) between the two groups before training. After 8 weeks treatment, the total (48.88 ± 3.68), static (26.40 ± 3.14) and dynamic (22.64 ± 3.68) balance scores improved significantly;the pace (59.22 ± 4.67), stride length (19.04 ± 2.24), feet wide (98.02 ± 7.97) and walking velocity (84.86 ± 9.88) and IP of N200 and P300 shortened obviously and P300 amplitude increased significantly in robot group (P < 0.05). Conclusion: This demonstrated that robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 may be considered as an indicator of neurological function improvement and effective robot-assisted lower limb rehabilitation training.展开更多
In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts ...In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.展开更多
Objective: To explore the effect of lower limb rehabilitation robot combined with task-oriented training on stroke patients and its influence on KFAROM score. Methods: 100 stroke patients with hemiplegia admitted to o...Objective: To explore the effect of lower limb rehabilitation robot combined with task-oriented training on stroke patients and its influence on KFAROM score. Methods: 100 stroke patients with hemiplegia admitted to our hospital from January 2023 to December 2023 were randomly divided into two groups, the control group (50 cases) was given task-oriented training assisted by nurses, and the observation group (50 cases) was given lower limb rehabilitation robot with task-oriented training. Lower limb balance, lower limb muscle strength, motor function, ankle function, knee flexion range of motion and walking ability were observed. Results: After treatment, the scores of BBS, quadriceps femoris and hamstrings in the observation group were significantly higher than those in the control group (P Conclusion: In the clinical treatment of stroke patients, the combination of task-oriented training and lower limb rehabilitation robot can effectively improve the lower limb muscle strength, facilitate the recovery of balance function, and have a significant effect on the recovery of motor function, which can improve the walking ability of stroke patients and the range of motion of knee flexion, and achieve more ideal therapeutic effectiveness.展开更多
目的:探讨太极云手结合机器人辅助训练对脑卒中患者手功能的康复效果。方法:将60例脑卒中患者随机分为治疗组(n=30)和对照组(n=30),两组均接受常规康复治疗,治疗组接受太极云手训练结合结合机器人辅助训练,对照组接受机器人辅助训练。...目的:探讨太极云手结合机器人辅助训练对脑卒中患者手功能的康复效果。方法:将60例脑卒中患者随机分为治疗组(n=30)和对照组(n=30),两组均接受常规康复治疗,治疗组接受太极云手训练结合结合机器人辅助训练,对照组接受机器人辅助训练。两组的训练频率为60min/天,5天/周,持续治疗8周。于治疗前、治疗4周后、治疗8周后采用Fugl-Meyer运动功能量表(Fugl-Meyer motor assessment,FMA)腕手部分、Wolf运动功能量表(Wolf motor function test,WMFT)、箱块测试(Box and Block test,BBT)、握力和捏力来评估受试者的手功能。结果:两组患者治疗后与治疗前比较,差异具有统计学意义(P<0.001)。治疗4周后组间比较差异不具有统计学意义(P>0.05);治疗8周后组间比较,WMFT差异具有统计学意义(P<0.05),FMA腕手部分、BBT、握力和捏力不具有统计学差异(P>0.05)。结论:太极云手结合机器人辅助训练能够改善脑卒中患者的手功能。展开更多
目的:分析下肢康复机器人联合悬吊运动训练对脑卒中患者下肢功能和日常生活能力的影响。方法:将2022年1月—2023年7月清远市人民医院收治的脑卒中患者90例作为本次观察对象,采取随机数字表法分成三组:A组(下肢康复机器人)、B组(悬吊运...目的:分析下肢康复机器人联合悬吊运动训练对脑卒中患者下肢功能和日常生活能力的影响。方法:将2022年1月—2023年7月清远市人民医院收治的脑卒中患者90例作为本次观察对象,采取随机数字表法分成三组:A组(下肢康复机器人)、B组(悬吊运动训练)、C组(下肢康复机器人联合悬吊运动训练),每组30例。比较三组训练后下肢Fugl-Meyer评估表(Fugl-Meyer assessment scale,FMA)评分、伯格平衡量表(Berg balance scale,BBS)评分、Holden功能性步行量表(functional amby iation category scale,FAC)评分、6分钟步行试验(6 min walk test,6MWT)及改良Barthel指数(modified Barthel index,MBI)、美国国立卫生研究院卒中量表(national institutes of health stroke scale,NIHSS)评分。结果:训练前,三组下肢FMA、BBS、FAC评分、6MWT、MBI、NIHSS评分比较,差异均无统计学意义(P>0.05);训练后,C组下肢FMA、BBS、FAC、MBI评分均明显更高于A组、B组,6MWT长于A组、B组,NIHSS评分低于A组、B组,差异均有统计学意义(P<0.05);A组、B组各项指标比较,差异均无统计学意义(P>0.05)。结论:在脑卒中后对患者采取下肢康复机器人联合悬吊运动训练,可提高患者下肢运动功能与步行能力,增强患者平衡与下肢运动功能,并改善神经功能,提高生活质量,促进身体康复。展开更多
基金supported by the National Natural Science Foundation of China(51505116)the Fundamental Research Funds for the Central Universities(JZ2016HGTB0716)+2 种基金Natural and Science Foundation of Anhui Province(1508085SME221)China Postdoctoral Science Foundation(2016M590563)the Science and Technology Public Relations Project of Anhui Province(1604a0902181)
文摘This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot(LLRR) that is a nonlinear system running under passive training mode. In reality, uncertainties including modeling error, initial condition deviation, friction force and other unknown external disturbances always exist in a LLRR system. So, it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described. In the dynamical model, uncertainties are(possibly fast) time-varying and bounded. However, the bounds are unknown. Based on the dynamical model, we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR. Furthermore, the effectiveness of designed control is shown with numerical simulations.
文摘Background: Robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 potential changes have importantly clinical value for evaluating the improvement in nerve function during the training as one of the objective targets. Methods: Sixty hemiplegic patients after stroke were randomly divided into a Lokomat group (30 cases) and a control group (30 cases). The Lokomat group received Lokomat rehabilitation while the control group only received traditional rehabilitation. The gait parameters and the balance ability were evaluated by the K421GAITRite analysis system and the Berg Balance Scale (BBS);ERP components including N100, N200, P200 and P300 potential were evaluated by a muscle electric inducing potentiometer. Results: There were no significant differences in BBS and gait parameters (P > 0.05), as well as in amplitude and incubation periods (IP) (P > 0.05) between the two groups before training. After 8 weeks treatment, the total (48.88 ± 3.68), static (26.40 ± 3.14) and dynamic (22.64 ± 3.68) balance scores improved significantly;the pace (59.22 ± 4.67), stride length (19.04 ± 2.24), feet wide (98.02 ± 7.97) and walking velocity (84.86 ± 9.88) and IP of N200 and P300 shortened obviously and P300 amplitude increased significantly in robot group (P < 0.05). Conclusion: This demonstrated that robot-assisted lower limb rehabilitation training in early stage could improve the limb function among hemiplegic patients caused by ischemic stroke. P300 may be considered as an indicator of neurological function improvement and effective robot-assisted lower limb rehabilitation training.
基金Project(61175128) supported by the National Natural Science Foundation of ChinaProject(2008AA040203) supported by the National High Technology Research and Development Program of ChinaProject(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province,China
文摘In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.
文摘Objective: To explore the effect of lower limb rehabilitation robot combined with task-oriented training on stroke patients and its influence on KFAROM score. Methods: 100 stroke patients with hemiplegia admitted to our hospital from January 2023 to December 2023 were randomly divided into two groups, the control group (50 cases) was given task-oriented training assisted by nurses, and the observation group (50 cases) was given lower limb rehabilitation robot with task-oriented training. Lower limb balance, lower limb muscle strength, motor function, ankle function, knee flexion range of motion and walking ability were observed. Results: After treatment, the scores of BBS, quadriceps femoris and hamstrings in the observation group were significantly higher than those in the control group (P Conclusion: In the clinical treatment of stroke patients, the combination of task-oriented training and lower limb rehabilitation robot can effectively improve the lower limb muscle strength, facilitate the recovery of balance function, and have a significant effect on the recovery of motor function, which can improve the walking ability of stroke patients and the range of motion of knee flexion, and achieve more ideal therapeutic effectiveness.
文摘目的:探讨太极云手结合机器人辅助训练对脑卒中患者手功能的康复效果。方法:将60例脑卒中患者随机分为治疗组(n=30)和对照组(n=30),两组均接受常规康复治疗,治疗组接受太极云手训练结合结合机器人辅助训练,对照组接受机器人辅助训练。两组的训练频率为60min/天,5天/周,持续治疗8周。于治疗前、治疗4周后、治疗8周后采用Fugl-Meyer运动功能量表(Fugl-Meyer motor assessment,FMA)腕手部分、Wolf运动功能量表(Wolf motor function test,WMFT)、箱块测试(Box and Block test,BBT)、握力和捏力来评估受试者的手功能。结果:两组患者治疗后与治疗前比较,差异具有统计学意义(P<0.001)。治疗4周后组间比较差异不具有统计学意义(P>0.05);治疗8周后组间比较,WMFT差异具有统计学意义(P<0.05),FMA腕手部分、BBT、握力和捏力不具有统计学差异(P>0.05)。结论:太极云手结合机器人辅助训练能够改善脑卒中患者的手功能。
文摘目的:分析下肢康复机器人联合悬吊运动训练对脑卒中患者下肢功能和日常生活能力的影响。方法:将2022年1月—2023年7月清远市人民医院收治的脑卒中患者90例作为本次观察对象,采取随机数字表法分成三组:A组(下肢康复机器人)、B组(悬吊运动训练)、C组(下肢康复机器人联合悬吊运动训练),每组30例。比较三组训练后下肢Fugl-Meyer评估表(Fugl-Meyer assessment scale,FMA)评分、伯格平衡量表(Berg balance scale,BBS)评分、Holden功能性步行量表(functional amby iation category scale,FAC)评分、6分钟步行试验(6 min walk test,6MWT)及改良Barthel指数(modified Barthel index,MBI)、美国国立卫生研究院卒中量表(national institutes of health stroke scale,NIHSS)评分。结果:训练前,三组下肢FMA、BBS、FAC评分、6MWT、MBI、NIHSS评分比较,差异均无统计学意义(P>0.05);训练后,C组下肢FMA、BBS、FAC、MBI评分均明显更高于A组、B组,6MWT长于A组、B组,NIHSS评分低于A组、B组,差异均有统计学意义(P<0.05);A组、B组各项指标比较,差异均无统计学意义(P>0.05)。结论:在脑卒中后对患者采取下肢康复机器人联合悬吊运动训练,可提高患者下肢运动功能与步行能力,增强患者平衡与下肢运动功能,并改善神经功能,提高生活质量,促进身体康复。
