Review of human–robot coordination control for rehabilitation based on motor function evaluation

doi:10.1007/s11465-022-0684-4

Front. Mech. Eng.

2022, Vol. 17

Issue (2) : 28 https://doi.org/10.1007/s11465-022-0684-4

REVIEW ARTICLE

Review of human–robot coordination control for rehabilitation based on motor function evaluation

Di SHI¹, Liduan WANG², Yanqiu ZHANG², Wuxiang ZHANG^1,³(

), Hang XIAO¹, Xilun DING^1,³

¹. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
². School of Rehabilitation Medicine, Weifang Medical University, Weifang 261053, China
³. Beijing Advanced Innovation Centre for Biomedical Engineering, Beihang University, Beijing 100191, China

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Abstract

As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

Keywords human–robot coupling lower limb rehabilitation exoskeleton robot motor assessment dynamical model perception

Corresponding Author(s): Wuxiang ZHANG

About author:

Tongcan Cui and Yizhe Hou contributed equally to this work.

Just Accepted Date: 22 April 2022 Issue Date: 15 August 2022

Cite this article:

Di SHI,Liduan WANG,Yanqiu ZHANG, et al. Review of human–robot coordination control for rehabilitation based on motor function evaluation[J]. Front. Mech. Eng., 2022, 17(2): 28.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-022-0684-4
https://academic.hep.com.cn/fme/EN/Y2022/V17/I2/28

Fig.1 Simplified diagram for motor function assessments in rehabilitation. TUG: timed up and go, BBS: Berg balance scale, SPPB: short physical performance battery, 6MWT: 6-min walk test, IMU: inertia measurement unit, EMG: electromyography, EEG: electroencephalogram.

Fig.2 Partial objective evaluation for motor function assessment: (a) infrared motion capture (Motion Analysis, USA); (b) inertial measurement units (Noraxon, USA); (c) insole plantar pressure and measurement device (Novel, German); (d) force plate (AMTI, USA); and (e) electromyography sensor (Noraxon, USA).

Fig.3 Modelling of robot, human, and human–robot interaction. HRI: human–robot interaction, DOF: degree of freedom, SEA: serial elastic actuator.

Fig.4 Perception of robot, human, and human–robot interaction.

Tab.1 Overview of control methods

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[1]	Zhengwei WANG, Yahui GAN, Xianzhong DAI. A novel task-oriented framework for dual-arm robotic assembly task[J]. Front. Mech. Eng., 2021, 16(3): 528-545.

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