Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training

Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremity ability but is limited by the shortage of medica...

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Autores principales:	Musong Lin, Hongbo Wang, Jianye Niu, Yu Tian, Xincheng Wang, Guowei Liu, Li Sun
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	admittance control human-robot interaction rehabilitation robotics stroke virtual reality Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/fca25c713f6342318b84c6d378a8cdf8
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id	oai:doaj.org-article:fca25c713f6342318b84c6d378a8cdf8
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spelling	oai:doaj.org-article:fca25c713f6342318b84c6d378a8cdf82021-11-25T18:12:25ZAdaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training10.3390/machines91103012075-1702https://doaj.org/article/fca25c713f6342318b84c6d378a8cdf82021-11-01T00:00:00Zhttps://www.mdpi.com/2075-1702/9/11/301https://doaj.org/toc/2075-1702Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremity ability but is limited by the shortage of medical staff. Thus, this paper proposes a robot-assisted active training (RAAT) by an adaptive admittance control scheme with virtual reality interaction (AACVRI). AACVRI consists of a stiffness variable admittance controller, an adaptive controller, and virtual reality (VR) interactions. In order to provide human-robot reality interactions corresponding to virtual scenes, an admittance control law with variable stiffness term was developed to define the mechanics property of the end effector. The adaptive controller improves tracking performances by compensating interaction forces and dynamics model deviations. A virtual training environment including action following, event feedback, and competition mechanism is utilized for improving boring training experience and engaging users to maintain active state in cycling training. To verify controller performances and the feasibility of RAAT, experiments were conducted with eight subjects. Admittance control provides desired variable interactions along the trajectory. The robot responds to different virtual events by changing admittance parameters according to trigger feedbacks. Adaptive control ensures tracking errors at a low level. Subjects were maintained in active state during this strength training. Their physiological signals significantly increased, and interaction forces were at a high level. RAAT is a feasible approach for lower limb strength training, and users can independently complete high-quality active strength training under RAAT.Musong LinHongbo WangJianye NiuYu TianXincheng WangGuowei LiuLi SunMDPI AGarticleadmittance controlhuman-robot interactionrehabilitation roboticsstrokevirtual realityMechanical engineering and machineryTJ1-1570ENMachines, Vol 9, Iss 301, p 301 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	admittance control human-robot interaction rehabilitation robotics stroke virtual reality Mechanical engineering and machinery TJ1-1570
spellingShingle	admittance control human-robot interaction rehabilitation robotics stroke virtual reality Mechanical engineering and machinery TJ1-1570 Musong Lin Hongbo Wang Jianye Niu Yu Tian Xincheng Wang Guowei Liu Li Sun Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
description	Muscle weakness is the primary impairment causing mobility difficulty among stroke survivors. Millions of people are unable to live normally because of mobility difficulty every year. Strength training is an effective method to improve lower extremity ability but is limited by the shortage of medical staff. Thus, this paper proposes a robot-assisted active training (RAAT) by an adaptive admittance control scheme with virtual reality interaction (AACVRI). AACVRI consists of a stiffness variable admittance controller, an adaptive controller, and virtual reality (VR) interactions. In order to provide human-robot reality interactions corresponding to virtual scenes, an admittance control law with variable stiffness term was developed to define the mechanics property of the end effector. The adaptive controller improves tracking performances by compensating interaction forces and dynamics model deviations. A virtual training environment including action following, event feedback, and competition mechanism is utilized for improving boring training experience and engaging users to maintain active state in cycling training. To verify controller performances and the feasibility of RAAT, experiments were conducted with eight subjects. Admittance control provides desired variable interactions along the trajectory. The robot responds to different virtual events by changing admittance parameters according to trigger feedbacks. Adaptive control ensures tracking errors at a low level. Subjects were maintained in active state during this strength training. Their physiological signals significantly increased, and interaction forces were at a high level. RAAT is a feasible approach for lower limb strength training, and users can independently complete high-quality active strength training under RAAT.
format	article
author	Musong Lin Hongbo Wang Jianye Niu Yu Tian Xincheng Wang Guowei Liu Li Sun
author_facet	Musong Lin Hongbo Wang Jianye Niu Yu Tian Xincheng Wang Guowei Liu Li Sun
author_sort	Musong Lin
title	Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
title_short	Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
title_full	Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
title_fullStr	Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
title_full_unstemmed	Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training
title_sort	adaptive admittance control scheme with virtual reality interaction for robot-assisted lower limb strength training
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/fca25c713f6342318b84c6d378a8cdf8
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Adaptive Admittance Control Scheme with Virtual Reality Interaction for Robot-Assisted Lower Limb Strength Training

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