Performance-Based Multi-Modal Control of a Wearable Lower Limb Rehabilitation Robot for Improving Leg Motion Coordination

Multi-modal control is useful for the rehabilitation robot to meet the rehabilitation requirement of patients with varying motion capabilities. However, few studies consider the coordinated performance of inter-joint motion in wearable lower limb rehabilitation robot (WLLRR). This article describes...

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Bibliographic Details
Published inInternational Conference on Advanced Robotics and Mechatronics (Online) pp. 165 - 170
Main Authors Zheng, Zhefen, Song, Rong
Format Conference Proceeding
LanguageEnglish
Published IEEE 08.07.2024
Subjects
Aerospace electronics
Assistive robots
Hip
Human-robot interaction
Knee
Legged locomotion
Mechatronics
Robot kinematics
Switches
Torque
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Summary:Multi-modal control is useful for the rehabilitation robot to meet the rehabilitation requirement of patients with varying motion capabilities. However, few studies consider the coordinated performance of inter-joint motion in wearable lower limb rehabilitation robot (WLLRR). This article describes a performance-based multi-modal control (PMC) that facilitates a sustainable leg motion between hip and knee joints during WLLRR-assisted overground walking, ensuring coordinated human-robot interaction. By evaluating leg motion performance through a blend of inter-joint motion error and interaction torque, PMC can not only adaptively modulate the compliance factor but also seamlessly switch among human-dominated (HD), human-robot shared (HRS), and robot-dominated (RD) mode. The efficacy of PMC was evaluated on three healthy subjects and compared to the previous force-based multi-modal control (FMC). Experimental results demonstrated that PMC can provide substantive coordinated leg motion and significantly decrease the RMS error between the desired leg motion and reference leg motion in the hip-knee joint space. Therefore, PMC has potential value in correcting uncoordinated leg motion during gait rehabilitation for post-stroke patients.
ISSN:2993-4990
DOI:10.1109/ICARM62033.2024.10715823