Academic Journal
Development of a Neural-Fuzzy-Based Variable Admittance Control Strategy for an Upper Limb Rehabilitation Exoskeleton.
| Τίτλος: | Development of a Neural-Fuzzy-Based Variable Admittance Control Strategy for an Upper Limb Rehabilitation Exoskeleton. |
|---|---|
| Συγγραφείς: | Shi, Yixing, Li, Keyi, Zhang, Yehong, Wu, Qingcong |
| Πηγή: | Sensors (14248220); Mar2026, Vol. 26 Issue 6, p1838, 22p |
| Θεματικοί όροι: | Robotic exoskeletons, Stroke rehabilitation, Robotic trajectory control, Treatment programs, Neurorehabilitation, Human-robot interaction, Fuzzy control systems |
| Περίληψη: | Upper limb motor dysfunction resulting from stroke requires effective rehabilitation solutions; however, current exoskeletons are limited by single-input control, inadequate adaptation to various rehabilitation stages, and restriction to one limb. This study presents the development of a three-degree-of-freedom upper limb rehabilitation exoskeleton with three core innovations: (1) a neuro-fuzzy adaptive admittance control architecture that integrates human–robot interaction force and joint angular velocity as dual inputs for real-time damping adjustment, enabling accurate capture of dynamic movement intentions; (2) a Brunnstrom stage-specific fuzzy rule base that directly links clinical rehabilitation needs to adaptive control parameters; (3) a bilateral adaptable mechanical structure, allowing dual-upper limb training to enhance practical application. By combining radial basis function (RBF) neural network-based adaptive proportional–integral–derivative (PID) control with fuzzy variable-parameter admittance control, the system achieves a maximum trajectory tracking error of less than 1.2° and a root mean square (RMS) error of ≤0.13°. Trajectory tracing experiments confirm an RMS error of 2.99 mm for a circular trajectory at Bd = 2. The proposed strategy, validated through position tracking, admittance interaction, and trajectory tracing experiments, effectively balances tracking accuracy and human–machine compliance, providing valuable technical support for robot-assisted upper limb rehabilitation. [ABSTRACT FROM AUTHOR] |
| Copyright of Sensors (14248220) is the property of MDPI and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Complementary Index |
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| Header | DbId: edb DbLabel: Complementary Index An: 192598566 RelevancyScore: 1061 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 1060.75720214844 |
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| Items | – Name: Title Label: Title Group: Ti Data: Development of a Neural-Fuzzy-Based Variable Admittance Control Strategy for an Upper Limb Rehabilitation Exoskeleton. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Shi%2C+Yixing%22">Shi, Yixing</searchLink><br /><searchLink fieldCode="AR" term="%22Li%2C+Keyi%22">Li, Keyi</searchLink><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Yehong%22">Zhang, Yehong</searchLink><br /><searchLink fieldCode="AR" term="%22Wu%2C+Qingcong%22">Wu, Qingcong</searchLink> – Name: TitleSource Label: Source Group: Src Data: Sensors (14248220); Mar2026, Vol. 26 Issue 6, p1838, 22p – Name: Subject Label: Subject Terms Group: Su Data: <searchLink fieldCode="DE" term="%22Robotic+exoskeletons%22">Robotic exoskeletons</searchLink><br /><searchLink fieldCode="DE" term="%22Stroke+rehabilitation%22">Stroke rehabilitation</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Treatment+programs%22">Treatment programs</searchLink><br /><searchLink fieldCode="DE" term="%22Neurorehabilitation%22">Neurorehabilitation</searchLink><br /><searchLink fieldCode="DE" term="%22Human-robot+interaction%22">Human-robot interaction</searchLink><br /><searchLink fieldCode="DE" term="%22Fuzzy+control+systems%22">Fuzzy control systems</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Upper limb motor dysfunction resulting from stroke requires effective rehabilitation solutions; however, current exoskeletons are limited by single-input control, inadequate adaptation to various rehabilitation stages, and restriction to one limb. This study presents the development of a three-degree-of-freedom upper limb rehabilitation exoskeleton with three core innovations: (1) a neuro-fuzzy adaptive admittance control architecture that integrates human–robot interaction force and joint angular velocity as dual inputs for real-time damping adjustment, enabling accurate capture of dynamic movement intentions; (2) a Brunnstrom stage-specific fuzzy rule base that directly links clinical rehabilitation needs to adaptive control parameters; (3) a bilateral adaptable mechanical structure, allowing dual-upper limb training to enhance practical application. By combining radial basis function (RBF) neural network-based adaptive proportional–integral–derivative (PID) control with fuzzy variable-parameter admittance control, the system achieves a maximum trajectory tracking error of less than 1.2° and a root mean square (RMS) error of ≤0.13°. Trajectory tracing experiments confirm an RMS error of 2.99 mm for a circular trajectory at Bd = 2. The proposed strategy, validated through position tracking, admittance interaction, and trajectory tracing experiments, effectively balances tracking accuracy and human–machine compliance, providing valuable technical support for robot-assisted upper limb rehabilitation. [ABSTRACT FROM AUTHOR] – Name: Abstract Label: Group: Ab Data: <i>Copyright of Sensors (14248220) is the property of MDPI and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.3390/s26061838 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 22 StartPage: 1838 Subjects: – SubjectFull: Robotic exoskeletons Type: general – SubjectFull: Stroke rehabilitation Type: general – SubjectFull: Robotic trajectory control Type: general – SubjectFull: Treatment programs Type: general – SubjectFull: Neurorehabilitation Type: general – SubjectFull: Human-robot interaction Type: general – SubjectFull: Fuzzy control systems Type: general Titles: – TitleFull: Development of a Neural-Fuzzy-Based Variable Admittance Control Strategy for an Upper Limb Rehabilitation Exoskeleton. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Shi, Yixing – PersonEntity: Name: NameFull: Li, Keyi – PersonEntity: Name: NameFull: Zhang, Yehong – PersonEntity: Name: NameFull: Wu, Qingcong IsPartOfRelationships: – BibEntity: Dates: – D: 15 M: 03 Text: Mar2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 14248220 Numbering: – Type: volume Value: 26 – Type: issue Value: 6 Titles: – TitleFull: Sensors (14248220) Type: main |
| ResultId | 1 |