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Fulltext Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton

Aole S, Elamvazuthi I, Waghmare L, Patre B, Meriaudeau F

Sensors (Basel), 2020 Jun 30;20(13).
PMID: 32630115 DOI: 10.3390/s20133681

Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research.

Matched MeSH terms: Rehabilitation/instrumentation*
A review on the mechanical design elements of ankle rehabilitation robot

Khalid YM, Gouwanda D, Parasuraman S

Proc Inst Mech Eng H, 2015 Jun;229(6):452-63.
PMID: 25979442 DOI: 10.1177/0954411915585597

Ankle rehabilitation robots are developed to enhance ankle strength, flexibility and proprioception after injury and to promote motor learning and ankle plasticity in patients with drop foot. This article reviews the design elements that have been incorporated into the existing robots, for example, backdrivability, safety measures and type of actuation. It also discusses numerous challenges faced by engineers in designing this robot, including robot stability and its dynamic characteristics, universal evaluation criteria to assess end-user comfort, safety and training performance and the scientific basis on the optimal rehabilitation strategies to improve ankle condition. This article can serve as a reference to design robot with better stability and dynamic characteristics and good safety measures against internal and external events. It can also serve as a guideline for the engineers to report their designs and findings.

Matched MeSH terms: Rehabilitation/instrumentation*
Recent trends for practical rehabilitation robotics, current challenges and the future

Yakub F, Md Khudzari AZ, Mori Y

Int J Rehabil Res, 2014 Mar;37(1):9-21.
PMID: 24126254 DOI: 10.1097/MRR.0000000000000035

This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

Matched MeSH terms: Rehabilitation/instrumentation
Fulltext The use of fiber Bragg grating sensors in biomechanics and rehabilitation applications: the state-of-the-art and ongoing research topics

Al-Fakih E, Abu Osman NA, Mahamd Adikan FR

Sensors (Basel), 2012 Sep 25;12(10):12890-926.
PMID: 23201977 DOI: 10.3390/s121012890

In recent years, fiber Bragg gratings (FBGs) are becoming increasingly attractive for sensing applications in biomechanics and rehabilitation engineering due to their advantageous properties like small size, light weight, biocompatibility, chemical inertness, multiplexing capability and immunity to electromagnetic interference (EMI). They also offer a high-performance alternative to conventional technologies, either for measuring a variety of physical parameters or for performing high-sensitivity biochemical analysis. FBG-based sensors demonstrated their feasibility for specific sensing applications in aeronautic, automotive, civil engineering structure monitoring and undersea oil exploration; however, their use in the field of biomechanics and rehabilitation applications is very recent and its practicality for full-scale implementation has not yet been fully established. They could be used for detecting strain in bones, pressure mapping in orthopaedic joints, stresses in intervertebral discs, chest wall deformation, pressure distribution in Human Machine Interfaces (HMIs), forces induced by tendons and ligaments, angles between body segments during gait, and many others in dental biomechanics. This article aims to provide a comprehensive overview of all the possible applications of FBG sensing technology in biomechanics and rehabilitation and the status of ongoing researches up-to-date all over the world, demonstrating the FBG advances over other existing technologies.

Matched MeSH terms: Rehabilitation/instrumentation*
Effects of pressure garment on spasticity and function of the arm in the early stages after stroke: a randomized controlled trial

Ooi HK, Chai SC, Kadar M

Clin Rehabil, 2020 Apr;34(4):515-523.
PMID: 32037862 DOI: 10.1177/0269215520905050

OBJECTIVE: To investigate the effects of pressure (Lycra) garment on the spasticity and function of the arm in the early stages after stroke.
DESIGN: A randomized controlled trial.
SETTING: Occupational therapy unit of a public hospital.
SUBJECTS: A total of 46 adults with stroke.
INTERVENTION: After random assignment, for six weeks, both intervention group and control group received a 2 hour/week conventional occupational therapy program, with the intervention group receiving an extra 6 hour/day pressure garment application (long glove).
MAIN MEASURES: Modified Modified Ashworth Scale, Disabilities of Arm, Shoulder and Hand Outcome Measure, and Jebsen-Taylor Hand Function Test. Eligibility measures: Mini Mental State Examination and Modified Modified Ashworth Scale. Assessments were performed at baseline and six weeks postintervention.
RESULTS: There were 21 participants with the mean age of 51.19 (8.28) years in the intervention group and 22 participants with the mean (SD) age of 52.82 (8.71) years in the control group. The intervention group had median (interquartile range (IQR)) post-stroke duration of 1 (1) month, while for the control group, they were 2 (2) months. There was no difference in spasticity, and both perceived and actual arm functions between the groups at six weeks after baseline.
CONCLUSION: Wearing a pressure garment on the arm for 6 hours daily had no effect in controlling spasticity or on improving arm function in the early stages after stroke.

Matched MeSH terms: Stroke Rehabilitation/instrumentation*