Clinical Experimental Research on a Hierarchically Triggered Control Method for Robot-assisted Muscle Strength Training
XU Guozheng1, SONG Aiguo2, PAN Lizheng2, GAO Xiang1, LIANG Zhiwei1, XU Baoguo2
1. Networked Robot Control Laboratory, College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210046, China;
2. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
A new fuzzy adaptive hierarchically triggered control method for muscle strength training is presented to solve the deficiency that the muscle strength training methods in existing robot-aided resistance training systems are all constructed within the framework of predefined reference trajectory by designing low-level resistive force controller according to the participant's motor behavior. The new method is developed without the need of predefined training trajectory, and firstly a high-level progressive resistance supervisory controller of resistive force is designed based on the impaired limb's motor performance to determine the basic resistive force for each training session. Secondly, a low-level adaptive resistive force triggered controller is constructed according to the impaired limb's bio-impedance changes to further adjust the resistive force in each training session. Finally, the effectiveness and potentialities of the proposed control strategy are verified with clinical experimental results.
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