An Adaptive and Hybrid End-Point/Joint Impedance Controller for Lower Limb Exoskeletons.

Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

To assess the effects of spinal cord injury (SCI) on perceived health-related quality of life (QOL). SCI is physically disabling, socially handicapping, and romantically limiting. Nevertheless, little is known about post-SCI neurocognitive and psychosocial life. Better understanding of the cognitive and emotional worlds of SCI patients is essential to better address and meet their needs and expectations. Twenty subjects with high-cord (T6 and above) complete (American Spinal Injury Association [ASIA] A) SCI (High SCI) were compared with 10 subjects with low-cord (T7 and below) ASIA A SCI (Low SCI) and with 11 Able-Bodied control subjects. Satisfaction with Life and Short Form-36 instruments were used to assess physical and emotional aspects of QOL. Analyses of variance were used to assess potential differences across groups. Overall, satisfaction with life was the same among the groups. Expectedly, High SCI and Low SCI subjects reported lower physical functioning than Able-Bodied subjects (p < 0.0001). But, oddly, there were no differences in perceived physical role, physical health, or social functioning. Furthermore, High SCI subjects reported better perceived mental health than Able-Bodied control subjects (p = 0.004) and a trend over Low SCI subjects (p = 0.06), better perceived emotional role in society (p = 0.02), and greater vitality (p = 0.01) than Low SCI subjects and Able-Bodied subjects. Despite severe physical impairment and disability and frequent medical complications, subjects with complete spinal cord injury at high anatomic levels report better than average quality of life, being overall content. Reasons for these findings are unclear. Psychological adaptive reactions are likely, but the possible role of physiologic and neurocognitive changes needs further exploration.

The interaction force control problem for the object manipulated by the dual-arm manipulator with the unknown environment is addressed in this paper. An adaptive dual-loop impedance control scheme is designed to meet the three control targets, including the trajectory tracking control of the object, the internal force control of the object with the two arms, and the interaction force control of the object with the unknown environment. Firstly, an adaptive variable impedance control method is proposed in the outer loop to copy with the unknown stiffness and position of the environment. Secondly, an impedance control scheme based on the internal force is designed in the inner loop to plan the internal force and the modified position supplied with the outer-loop control. Thirdly, to realize the reference trajectory supplied with the inner-loop control, the virtual decomposition control (VDC) method is incorporated, which is a recursive adaptive control progress, so that the unknown dynamics of the manipulators is acceptable and the computation complexity is also very low to satisfy the real-time control requirement. The stability verifications of the inner-loop impedance control and the VDC method are given based on the Lyapunov method, and the stability analysis of the outer-loop impedance control is obtained using the Routh criterion. Finally, a plane dual-arm robotic manipulator with three degrees of freedom is used to verify the effectiveness of the proposed control scheme.

PurposeComponent positioning is an important part of aircraft assembly, aiming at the problem that it is difficult to accurately fall into the corresponding ball socket for the ball head connected with aircraft component. This study aims to propose a ball head adaptive positioning method based on impedance control.Design/methodology/approachFirst, a target impedance model for ball head positioning is constructed, and a reference positioning trajectory is generated online based on the contact force between the ball head and the ball socket. Second, the target impedance parameters were optimized based on the artificial fish swarm algorithm. Third, to improve the robustness of the impedance controller in unknown environments, a controller is designed based on model reference adaptive control (MRAC) theory and an adaptive impedance control model is built in the Simulink environment. Finally, a series of ball head positioning experiments are carried out.FindingsDuring the positioning of the ball head, the contact force between the ball head and the ball socket is maintained at a low level. After the positioning, the horizontal contact force between the ball head and the socket is less than 2 N. When the position of the contact environment has the same change during ball head positioning, the contact force between the ball head and the ball socket under standard impedance control will increase to 44 N, while the contact force of the ball head and the ball socket under adaptive impedance control will only increase to 19 N.Originality/valueIn this paper, impedance control is used to decouple the force-position relationship of the ball head during positioning, which makes the entire process of ball head positioning complete under low stress conditions. At the same time, by constructing an adaptive impedance controller based on MRAC, the robustness of the positioning system under changes in the contact environment position is greatly improved.

In this paper, adaptive impedance control is developed for an ${n}$ -link robotic manipulator with input saturation by employing neural networks. Both uncertainties and input saturation are considered in the tracking control design. In order to approximate the system uncertainties, we introduce a radial basis function neural network controller, and the input saturation is handled by designing an auxiliary system. By using Lyapunov’s method, we design adaptive neural impedance controllers. Both state and output feedbacks are constructed. To verify the proposed control, extensive simulations are conducted.

Femoral Bone Marrow Adiposity and Cortical Bone Cross‐Sectional Areas in Men With Motor Complete Spinal Cord Injury

The purpose of the investigation was to examine the safety and efficacy of functional electrical stimulation (FES)-assisted hydraulic resistance training in improving cardiovascular fitness in persons with spinal cord injuries. The cardiopulmonary responses of 10 high spinal cord injured (SCI) and five able bodied (AB) subjects were assessed during three bouts of FES-assisted leg extension exercise. The protocol involved three 30-minute tests: (1) unloaded leg extension, (2) hydraulically-resisted leg extension (loaded), and (3) a reproduction of the unloaded and loaded protocols to measure cardiac output (Q). Pre-measurements were made of body mass, mean limb weight, maximal force output and maximal oxygen uptake (incremental arm ergometry). Oxygen uptake (VO2), minute ventilation (Ve), respiratory exchange ratio (RER), heart rate (HR), blood pressure (BP) were recorded before, during and after tests. There was a significant difference in VO2 max between SCI and AB subjects. Cardiac output significantly increased between the loaded and unloaded tests. The significant increases from rest to unloaded and loaded exercise pointed to the potential value of adding resistance to a leg extension training regime. Heart rate and BP of the participants with SCI consistently demonstrated a response suggestive of autonomic dysreflexia. Upon stimulation an immediate increase in (predominantly systolic) BP was observed, followed by a fall in HR. On cessation of stimulation HR exhibited a substantial rebound effect and BP returned to normal levels. This response was highly reproducible and suggests caution be exercised in the use of FES for people with SCI with lesion levels above the major splanchnic outflow (T6).

sEMG-based continuous estimation of joint angles of human legs by using BP neural network

Non-volitional control, such as finite-state machine (FSM) impedance control, does not directly incorporate user intent signals, while volitional control, like direct myoelectric control (DMC), relies on these signals. This paper compares the performance, capabilities, and perception of FSM impedance control to DMC on a robotic prosthesis for subjects with and without transtibial amputation. It then explores, using the same metrics, the feasibility and performance of the combination of FSM impedance control and DMC across the full gait cycle, termed Hybrid Volitional Control (HVC). After calibration and acclimation with each controller, subjects walked for two minutes, explored the control capabilities, and completed a questionnaire. FSM impedance control produced larger average peak torque (1.15 Nm/kg) and power (2.05 W/kg) than DMC (0.88 Nm/kg and 0.94 W/kg). The discrete FSM, however, caused non-standard kinetic and kinematic trajectories, while DMC yielded trajectories qualitatively more similar to able-bodied biomechanics. While walking with HVC, all subjects successfully achieved ankle push-off and were able to modulate the magnitude of push-off via the volitional input. Unexpectedly, however, HVC behaved either more similarly to FSM impedance control or to DMC alone, rather than in combination. Both DMC and HVC, but not FSM impedance control, allowed subjects to achieve unique activities such as tip-toe standing, foot tapping, side-stepping, and backward walking. Able-bodied subject (N=6) preferences were split amongst the controllers, while all transtibial subjects (N=3) preferred DMC. Desired performance and ease of use showed the highest correlations with overall satisfaction (0.81 and 0.82, respectively).

Objective: A number of studies on gait disturbances have been conducted, however, no clear pattern of gait disorders was described. The aim of the study was to characterize the gait pattern in HD patients by conducting analysis of mean angular movement changes the lower limb joints and trunk (kinematics parameters).Methods: The study group consisted of 30 patients with HD (17 women and 13 men). The reference data include the results of 30 healthy subjects (17 women and 13 men). Registration of gait with the Vicon 250 system was performed using passive markers attached to specific anthropometric points directly on the skin, based on the Golem biomechanical model (Oxford Metrics Ltd.). The research group and the control group were tested once.Results: Statistically significant (p < 0.05) angular changes in gait cycle for HD patients were observed in: insufficient plantar flexion during Loading Response and Pre-swing phases; insufficient flexion of the knee joint during Initial Swing and Mid Swing phases; excessive flexion of the hip in Terminal Stance and Pre-swing phases and over-normative forward inclination of the trunk in all gait phases. It should be noted that the group of patients with HD obtained, for all the mean angular movement changes higher standard deviation.Conclusion: A characteristic gait disorder common to all patients with HD occurring throughout the whole duration of the gait cycle is a pathological anterior tilt of the trunk. The results will significantly contribute to programming physiotherapy for people with HD, aimed at stabilizing the trunk in a position of extension during gait.

Segment erector belongs to heavy load equipment, due to its rigidity and motion inertia, it will cause large inertial force impact during movement, which seriously affects the assembly accuracy, and service life of segment assembler. To address this issue, the present study employs the translation mechanism as a representative example and introduces a force-based impedance control strategy is proposed to facilitate compliant control of the segment erector within a pipe segment assembly machine. Firstly, the architecture of the segment assembler and the operational principles governing its hydraulic system are presented, the classical impedance control model for hydraulic system is created. And regarding the characteristics inherent to the segment assembly hydraulic system and the uncertainty of the field environment during the assembly, designed a force-based adaptive impedance controller and provided a proof of stability for the adaptive impedance model. Finally, through comparison simulations with traditional control methods, it was proven that this method can significantly improve compensate for the inertial force impact during the motion of the pipe segment assembly machine and has better force/position tracking performance.

In this paper, an image-based impedance control strategy for force tracking of an unmanned aerial manipulator (UAM) is presented. Firstly, image features with nice decoupling characteristics are designed and the relationship between the camera motion and the image features is derived. Then, a two-stage strategy is proposed to achieve force tracking of the UAM on a planar object in an arbitrary pose. The first stage drives the end-effector perpendicular to the object’s planer surface by pure visual servoing. To achieve force tracking under the visual guidance, an adaptive visual impedance control method which adjusts the target stiffness according to the force tracking error and the visual feature error is proposed in the second stage. The closed-loop system is proved asymptotically stable by means of Lyapunov analysis. Further, the stability in free flight phase of the stage two is also analyzed and ensured. Finally, experiments were carried out including a whiteboard cleaning task in different poses. The experimental results illustrate the validity and effectiveness of the proposed approach. Note to Practitioners—This work is motivated by the contact force tracking problem of an unmanned aerial manipulator (UAM) without the position measurement. In recent years, impedance control is widely used in force tracking problems. However, position measurement is needed both for the robot and the object in most studies. To generate desired force under visual guidance, image-based visual servoing is combined with a novel impedance controller with variable stiffness. The idea is intuitive. For a human in contact with a wall, the contact force is controlled by adjusting his arm stiffness, which means the stiffness is adapted to the difference between the desired and actual contact force. Furthermore, the stiffness is also adapted to the visual tracking error, removing the assumption that no tracking error is in the inner loop of the impedance controller in the previous works. The proposed strategy is a promising solution for real applications and is validated by a board cleaning experiment in this paper.

Chapter Twelve - Impedance control applications in therapeutic exercise robots

Controlled, laboratory-based analysis. To determine the impact of spinal cord injuries (SCIs) on the ability to achieve male orgasm. US academic medical center. A laboratory-based analysis of the ability of 45 men with SCIs and 16 able-bodied control subjects to achieve orgasm coupled with a detailed neurologic examination, history and physical examination, and administration of the International Index of Erectile Function. Men with SCIs were less likely than controls to achieve orgasm. Mean latency to orgasm, blood pressure and heart rates at orgasm were not significantly different between controls and SCI subjects. Men with incomplete SCIs were more likely to achieve orgasm than those with complete SCIs. A disconnect was noted between the presence of orgasm and the presence of ejaculation. Men with complete lower motor neuron dysfunction affecting their sacral segments were less likely to achieve orgasm than men with any other patterns of SCI. These results document the ability of men with complete SCIs to achieve orgasm. Characteristics of orgasm in men with SCIs as compared to able-bodied subjects are similar. Although orgasm and ejaculation are more likely to occur together, a number of men with SCIs achieve orgasm without ejaculation. Further research should explore the possibility of retraining ejaculatory and orgasmic responses in men with SCIs.

Complex network inference from P300 signals: Decoding brain state under visual stimulus for able-bodied and disabled subjects