A Two-Layer Adaptive Assist-As-Needed Control Scheme for Rehabilitation Robotics

• Published in: IEEE robotics and automation letters Vol. 10; no. 10; pp. 9830 - 9837
• Main Authors: Zhang, Maozeng, Li, Huijun, Shi, Ke, Song, Aiguo
• Format: Journal Article
• Language: English
• Published: IEEE 01.10.2025
• Subjects: adaptive control; assist-as-needed (AAN); Assistive robots; Exoskeletons; Impedance; Kalman filters; Limbs; Motors; Rehabilitation robotics; Springs; surface electromyography (sEMG); Torque; Trajectory; Wheels

Assist-as-needed (AAN) strategies aim to enhance active participation, thereby promoting neuroplasticity and facilitating motor recovery. However, due to variations in injury severity and motor abilities, non-adaptive AAN control strategies may provide suboptimal assistance. This letter proposes a t...