A novel architecture for cooperative remote rehabilitation system

doi:10.1016/j.compeleceng.2016.08.001

Computers & Electrical Engineering

Volume 56, November 2016, Pages 715-731

https://doi.org/10.1016/j.compeleceng.2016.08.001 Get rights and content

Abstract

In this paper, the problem of trilateral interaction between therapist, patient, and virtual environment is considered. Herein, a new architecture for robotic rehabilitation is investigated based on the robots together with patient and therapist, cooperating with each other to accomplish the therapy in the virtual reality, in which the rehabilitation system is divided into three subsystems: patient, therapist, and virtual environment. Each subsystem is controlled locally, ensuring that it is input-to-state stable (ISS). Besides, the associated interconnections are shown to be stable in the presence of communication time delays. First, the patient is capable of generating movements until losing his strength, i.e. interacting with the robot without help of the therapist. Afterwards, the therapist assists the patient to follow up the process, i.e. the patient is active in the former condition while becomes passive in the latter. Therefore, the controllers should be able to deal with not only active but also passive robots. Also, impedance reflection, adaptive projection method, and impedance control are utilized. Finally, simulation and experimental results are extracted in evaluation.

Section snippets

INTRODUCTION

Stroke is widespread among people who live in the developed countries resulting in severe disabilities and negative impacts on the patients, which may lead to impaired motor control on the affected side. Moreover, it is the third most frequent cause of death as well as permanent disabilities in the world [1]. The rehabilitation goal is to promote recovery of the lost function, and providing the patient the chance to come back into social life as soon as possible [2]. Robot assisted

Problem formulation

Assumption 1

The communication delays $τ_{i}^{j} : R_{+} \to R_{+}, i \in {1, \dots, p}, j \in {1, \dots, p}$ are Lebesgue measurable functions [25] with the following properties:

•
There exists a piecewise continuous function $τ^{*} : R_{+} \to R_{+}$ satisfying $τ^{*} (t_{2}) - τ^{*} (t_{1}) \leq t_{2} - t_{1},$ such that the following inequalities hold for all t ≥ 0
$max_{\binom{i \in {1, \dots, p}}{j \in {1, \dots, m}}} τ_{i}^{j} (t) \leq τ^{*} (t);$
•
$t - max_{\binom{i \in {1, \dots, p}}{j \in {1, \dots, m}}} τ_{i}^{j} (t) \to \infty$ as t → ∞.

Definition 1

([26]) The system $\dot{x} = f (x, t)$ is said to input-to-state stable if there exist β ∈ KL and γ ∈ K such that, for each x(t₀) ∈ Rⁿ, the solution x(t) of this system

The proposed scenario

In this section, three subsystems of the architecture in this system are described in the diagram shown in Fig. 1. The first, second and third subsystems respectively are the primary master system representing the interconnection of therapist with the corresponding robot, the secondary master containing the patient and the robot, and the environment and virtual robot. This section is organized to show that each mentioned subsystems are input-to-state stable independent of the interconnection

Simulation results

In this section, the proposed controller is investigated. The robots interacting with the operators are 3 homogenous 2-DOF manipulators. The solution for the LMI is shown in the first part. If we consider the desired impedance surface of the controller as follows $\begin{matrix} K_{d} = [\begin{matrix} 14 & 0 \\ 0 & 14 \end{matrix}], B_{d} = [\begin{matrix} 50 & 0 \\ 0 & 50 \end{matrix}], M_{d} = [\begin{matrix} 1 & 0 \\ 0 & 1 \end{matrix}] \end{matrix}$ Then by solving this LMI the values for P and R are obtained as follows $\begin{matrix} P = [\begin{matrix} 2 .9277 & - 0.000 & 2.4328 & - 0.000 \\ - 0.000 & 2 .9277 & - 0.000 & 2.4328 \\ 2.4328 & - 0.000 & 2.7217 & - 0.000 \\ - 0.000 & 2.4328 & - 0.000 & 2.7217 \end{matrix}] \end{matrix}$ with eigen values $\begin{matrix} λ (p) = [\begin{matrix} 0 .3898 \end{matrix} \end{matrix}$

Experimental results

To verify the stability conditions and performance of the proposed method, experiments involving a dual-user system consisting of a Microsoft Force Feedback 2 robot and AUTWrist Robot are conducted. Microsoft Force Feedback 2 is a 3-DOF RRR robot with ability of force reflection. On the other hand, AUTWrist robot is a 3-DOF RRR robot (Fig. 7) which is equipped with 3 load cells as force sensors. The robots are not homogeneous and are related to each other with mathematical kinematics

Conclusions and future works

In this paper a new architecture for robotic rehabilitation was introduced. The mutual interaction between the therapist and patient was verified with robots. The proposed architecture splits the system into three subsystems: therapist, patient, and virtual environment, which was controlled locally ensuring that it is input to state stable (ISS). Finally, the interconnection of these subsystems were shown to be stable in the presence of communication time delays. The defined scenario for the

Fatemeh Koochaki received the B.Sc. degree in Electrical Engineering from Technical Shariaty University , Tehran, Iran in 2011, and M.Sc. degree of Control Engineering from Amirkabir University of Technology, Tehran, Iran in 2015. Her current research interests include medical robotics, nonlinear control and teleoperation.

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Iman Sharifi received the B.Sc, and the M.Sc. degree from Amirkabir University of Technology, Tehran, Iran, in 2009 and 2012 ,respectively, in electrical engineering. He is currently working toward the Ph.D. degree in electrical engineering, at Realtime and Robotic Laboratory in Amirkabir University of Technology, Tehran, Iran.

H.A. Talebi received the B.Sc. degree from Ferdowsi University, Mashhad, Iran, in 1988; the M.Sc. degree from Tarbiat Modarres University, Tehran, Iran, in 1991; and the Ph.D. degree from Concordia University, Montreal, QC, Canada, in 1997, all in electrical engineering. He was a Postdoctoral Fellow and a Research Fellow with Con- cordia University and with the University of Western Ontario, London, ON, Canada.

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A novel architecture for cooperative remote rehabilitation system

Abstract

Section snippets

INTRODUCTION

Problem formulation

The proposed scenario

Simulation results

Experimental results

Conclusions and future works

Med eng phys

Procedia Comput Sci

ISA trans

Mirror therapy for improving motor function after stroke

Stroke

The influence of functional electrical stimulation on hand motor recovery in stroke patients

Development of reconfigurable rehabilitation robot for post-stroke forearm and wrist training

Jurnal Teknologi

Likelihood of myocardial infarction during stroke rehabilitation preceded by cardiovascular screening and an exercise tolerance test: the locomotor experience applied post-stroke (leaps) trial

Int J Stroke

Effect of task-oriented training for people with stroke: a meta-analysis focused on repetitive or circuit training

Top Stroke Rehabil

Treadmill training for improving walking function after stroke a major update of a cochrane review