This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Co...This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.展开更多
This paper presents an upper limb exoskeleton that allows cognitive(through electromyography signals)and physical user interaction(through load cells sensors)for passive and active exercises that can activate neuropla...This paper presents an upper limb exoskeleton that allows cognitive(through electromyography signals)and physical user interaction(through load cells sensors)for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological injury.For the exoskeleton to be easily accepted by patients who suffer from a neurological injury,we used the ISO9241-210:2010 as a methodology design process.As the first steps of the design process,design requirements were collected from previous usability tests and literature.Then,as a second step,a technological solution is proposed,and as a third step,the system was evaluated through performance and user testing.As part of the technological solution and to allow patient participation during the rehabilitation process,we have proposed a hybrid admittance control whose input is load cell or electromyography signals.The hybrid admittance control is intended for active therapy exercises,is easily implemented,and does not need musculoskeletal modeling to work.Furthermore,electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.展开更多
目的评估维持性血液透析(maintenance hemodialysis,MHD)动静脉内瘘右利手患者的双侧上肢功能,了解动静脉内瘘对上肢功能的影响及内瘘侧上肢功能的影响因素。方法横断面研究,纳入北京市6家血液透析中心的MHD动静脉内瘘且右利手患者,收...目的评估维持性血液透析(maintenance hemodialysis,MHD)动静脉内瘘右利手患者的双侧上肢功能,了解动静脉内瘘对上肢功能的影响及内瘘侧上肢功能的影响因素。方法横断面研究,纳入北京市6家血液透析中心的MHD动静脉内瘘且右利手患者,收集人口学资料、生化资料、握力、关节活动度及简易上肢功能检查(simple test for evaluating hand function,STEF)等上肢功能指标。内瘘侧及非内瘘侧上肢功能的比较采用t检验(或非参数检验),采用多元线性回归分析MHD患者动静脉内瘘侧握力的影响因素。结果共入组MHD患者90例,其中男性51例(56.7%),年龄(59.63±10.60)岁,中位透析龄62.50(24.00,113.00)月。患者非内瘘侧握力高于内瘘侧握力(t=-5.133,P<0.001);多元线性回归结果显示MHD患者内瘘侧握力与血肌酐(β=0.353,P<0.001)、认知功能评分(β=0.223,P=0.006)呈正相关,与尿素清除指数(Kt/V)呈负相关(β=-0.235,P=0.007),男性握力大于女性(β=-0.253,P=0.004)。非内瘘侧腕关节尺偏的角度大于内瘘侧(t=-2.814,P=0.006)。在STEF各项操作中,内瘘侧在大球(t=2.327,P=0.021)、大圆片(t=2.472,P=0.015)、布(t=2.688,P=0.008)项目中操作时间长于无内瘘侧。结论MHD患者内瘘侧握力、关节活动度及灵活性均存在下降,影响内瘘侧握力的因素包括性别、血肌酐、Kt/V和认知功能评分。展开更多
目的:研究双侧经颅直流电刺激(dual-hemispheric transcranial direct current stimulation,Dual-tDCS)对慢性期脑卒中患者上肢运动功能的影响,为治疗慢性期脑卒中上肢功能障碍提供基于神经机制的理论依据。方法:选取某院24例慢性期脑...目的:研究双侧经颅直流电刺激(dual-hemispheric transcranial direct current stimulation,Dual-tDCS)对慢性期脑卒中患者上肢运动功能的影响,为治疗慢性期脑卒中上肢功能障碍提供基于神经机制的理论依据。方法:选取某院24例慢性期脑卒中上肢运动功能障碍患者,按照随机数字表法将其分为研究组(n=13)和对照组(n=11)。对照组采用tDCS伪刺激联合常规康复治疗,研究组采用Dual-tDCS联合常规康复治疗。治疗前后,采用Fugl-Meyer运动功能评定量表上肢部分(Fugl-Meyer assessment upper limb scale,FMA-UL)及日常生活活动能力(activities of daily living,ADL)测评量表对患者活动能力进行评估。对比治疗前后初级运动皮层(M1区)与全脑功能连接(functional connectivity,FC)的变化。使用SPSS 24.0统计学软件进行数据分析。结果:治疗后,2组患者的FMA-UL、ADL评分比治疗前均显著提高,且研究组评分明显高于对照组,差异有统计学意义(P<0.05)。M1区与全脑FC分析显示,治疗后对照组健侧M1区到患侧枕中回、健侧舌回、健侧角回FC降低(P<0.01);患侧M1区未见FC变化脑区。治疗后研究组健侧M1区到健侧小脑、健侧小脑蚓部FC降低,到患侧中央前回FC增加(P<0.01);患侧M1区到患侧小脑、患侧颞中回FC增加,到健侧中央前回FC降低(P<0.01)。结论:Dual-tDCS对大脑的神经调控作用可改善慢性期卒中患者运动和非运动相关脑区的FC,可能是慢性期脑卒中上肢运动功能障碍的康复机制。展开更多
目的观察针刺联合镜像疗法治疗脑卒中患者上肢运动功能障碍的临床疗效。方法将90例脑卒中上肢运动功能障碍患者按随机数字表法分为对照1组(30例,给予针刺治疗)、对照2组(30例,给予镜像疗法治疗)和观察组(30例,给予针刺联合镜像疗法治疗)...目的观察针刺联合镜像疗法治疗脑卒中患者上肢运动功能障碍的临床疗效。方法将90例脑卒中上肢运动功能障碍患者按随机数字表法分为对照1组(30例,给予针刺治疗)、对照2组(30例,给予镜像疗法治疗)和观察组(30例,给予针刺联合镜像疗法治疗),疗程均为2周。比较3组患者治疗前后Fugl-Meyer评估量表上肢板块(Fugl-Meyer assessment upper extremity,FMA-UE)评分,Wolf运动功能测试(Wolf motor function test,WMFT)量表评分,改良Barthel指数(modified Barthel index,MBI),国际功能、残疾和健康分类(international classification of functioning,disability and health,ICF)评分及伸腕主动运动范围(active range of motion,AROM)和基于FMA-UE评分判定临床疗效。结果观察组临床疗效优于对照1组和对照2组(P<0.05);治疗后3组患者FMA-UE评分、WMFT评分、MBI均较治疗前显著增加(P<0.05),ICF评分显著减少(P<0.05),且观察组FMA-UE评分、WMFT评分、MBI增加程度,ICF评分减少程度显著大于对照1组和对照2组(P<0.05);治疗后观察组患者伸腕AROM显著大于对照1组和对照2组(P<0.05)。结论针刺联合镜像疗法能有效改善脑卒中患者上肢运动功能障碍。展开更多
基金supported in part by the National Natural Science Foundation of China (62173182,61773212)the Intergovernmental International Science and Technology Innovation Cooperation Key Project of Chinese National Key R&D Program (2021YFE0102700)。
文摘This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.
文摘This paper presents an upper limb exoskeleton that allows cognitive(through electromyography signals)and physical user interaction(through load cells sensors)for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people who suffer from a neurological injury.For the exoskeleton to be easily accepted by patients who suffer from a neurological injury,we used the ISO9241-210:2010 as a methodology design process.As the first steps of the design process,design requirements were collected from previous usability tests and literature.Then,as a second step,a technological solution is proposed,and as a third step,the system was evaluated through performance and user testing.As part of the technological solution and to allow patient participation during the rehabilitation process,we have proposed a hybrid admittance control whose input is load cell or electromyography signals.The hybrid admittance control is intended for active therapy exercises,is easily implemented,and does not need musculoskeletal modeling to work.Furthermore,electromyography signals classification models and features were evaluated to identify the best settings for the cognitive human–robot interaction.
文摘目的评估维持性血液透析(maintenance hemodialysis,MHD)动静脉内瘘右利手患者的双侧上肢功能,了解动静脉内瘘对上肢功能的影响及内瘘侧上肢功能的影响因素。方法横断面研究,纳入北京市6家血液透析中心的MHD动静脉内瘘且右利手患者,收集人口学资料、生化资料、握力、关节活动度及简易上肢功能检查(simple test for evaluating hand function,STEF)等上肢功能指标。内瘘侧及非内瘘侧上肢功能的比较采用t检验(或非参数检验),采用多元线性回归分析MHD患者动静脉内瘘侧握力的影响因素。结果共入组MHD患者90例,其中男性51例(56.7%),年龄(59.63±10.60)岁,中位透析龄62.50(24.00,113.00)月。患者非内瘘侧握力高于内瘘侧握力(t=-5.133,P<0.001);多元线性回归结果显示MHD患者内瘘侧握力与血肌酐(β=0.353,P<0.001)、认知功能评分(β=0.223,P=0.006)呈正相关,与尿素清除指数(Kt/V)呈负相关(β=-0.235,P=0.007),男性握力大于女性(β=-0.253,P=0.004)。非内瘘侧腕关节尺偏的角度大于内瘘侧(t=-2.814,P=0.006)。在STEF各项操作中,内瘘侧在大球(t=2.327,P=0.021)、大圆片(t=2.472,P=0.015)、布(t=2.688,P=0.008)项目中操作时间长于无内瘘侧。结论MHD患者内瘘侧握力、关节活动度及灵活性均存在下降,影响内瘘侧握力的因素包括性别、血肌酐、Kt/V和认知功能评分。
文摘目的:研究双侧经颅直流电刺激(dual-hemispheric transcranial direct current stimulation,Dual-tDCS)对慢性期脑卒中患者上肢运动功能的影响,为治疗慢性期脑卒中上肢功能障碍提供基于神经机制的理论依据。方法:选取某院24例慢性期脑卒中上肢运动功能障碍患者,按照随机数字表法将其分为研究组(n=13)和对照组(n=11)。对照组采用tDCS伪刺激联合常规康复治疗,研究组采用Dual-tDCS联合常规康复治疗。治疗前后,采用Fugl-Meyer运动功能评定量表上肢部分(Fugl-Meyer assessment upper limb scale,FMA-UL)及日常生活活动能力(activities of daily living,ADL)测评量表对患者活动能力进行评估。对比治疗前后初级运动皮层(M1区)与全脑功能连接(functional connectivity,FC)的变化。使用SPSS 24.0统计学软件进行数据分析。结果:治疗后,2组患者的FMA-UL、ADL评分比治疗前均显著提高,且研究组评分明显高于对照组,差异有统计学意义(P<0.05)。M1区与全脑FC分析显示,治疗后对照组健侧M1区到患侧枕中回、健侧舌回、健侧角回FC降低(P<0.01);患侧M1区未见FC变化脑区。治疗后研究组健侧M1区到健侧小脑、健侧小脑蚓部FC降低,到患侧中央前回FC增加(P<0.01);患侧M1区到患侧小脑、患侧颞中回FC增加,到健侧中央前回FC降低(P<0.01)。结论:Dual-tDCS对大脑的神经调控作用可改善慢性期卒中患者运动和非运动相关脑区的FC,可能是慢性期脑卒中上肢运动功能障碍的康复机制。
文摘目的观察针刺联合镜像疗法治疗脑卒中患者上肢运动功能障碍的临床疗效。方法将90例脑卒中上肢运动功能障碍患者按随机数字表法分为对照1组(30例,给予针刺治疗)、对照2组(30例,给予镜像疗法治疗)和观察组(30例,给予针刺联合镜像疗法治疗),疗程均为2周。比较3组患者治疗前后Fugl-Meyer评估量表上肢板块(Fugl-Meyer assessment upper extremity,FMA-UE)评分,Wolf运动功能测试(Wolf motor function test,WMFT)量表评分,改良Barthel指数(modified Barthel index,MBI),国际功能、残疾和健康分类(international classification of functioning,disability and health,ICF)评分及伸腕主动运动范围(active range of motion,AROM)和基于FMA-UE评分判定临床疗效。结果观察组临床疗效优于对照1组和对照2组(P<0.05);治疗后3组患者FMA-UE评分、WMFT评分、MBI均较治疗前显著增加(P<0.05),ICF评分显著减少(P<0.05),且观察组FMA-UE评分、WMFT评分、MBI增加程度,ICF评分减少程度显著大于对照1组和对照2组(P<0.05);治疗后观察组患者伸腕AROM显著大于对照1组和对照2组(P<0.05)。结论针刺联合镜像疗法能有效改善脑卒中患者上肢运动功能障碍。
