Adaptive Control for Triadic Human-Robot-FES Collaboration in Gait Rehabilitation: A Pilot Study

Andreas Christou, Antonio J. del-Ama, Juan C. Moreno, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

The hybridisation of robot-assisted gait training and functional electrical stimulation (FES) can provide numerous physiological benefits to neurological patients. However, the design of an effective hybrid controller poses significant challenges. In this over-actuated system, it is extremely difficult to find the right balance between robotic assistance and FES that will provide personalised assistance, prevent muscle fatigue and encourage the patient’s active participation in order to accelerate recovery. In this paper, we present an adaptive hybrid robot-FES controller to do this and enable the triadic collaboration between the patient, the robot and FES. A patientdriven controller is designed where the voluntary movement of the patient is prioritised and assistance is provided using FES and the robot in a hierarchical order depending on the patient’s performance and their muscles’ fitness. The performance of this hybrid adaptive controller is tested in simulation and on one healthy subject. Our results indicate an increase in tracking performance with lower overall assistance, and less muscle fatigue when the hybrid adaptive controller is used, compared to its non adaptive equivalent. This suggests that our hybrid adaptive controller may be able to adapt to the behaviour of the user to provide assistance as needed and prevent the early termination of physical therapy due to muscle fatigue.
Original languageEnglish
Title of host publication2024 IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages1-8
Number of pages8
Publication statusAccepted/In press - 31 Jan 2024
Event2024 IEEE International Conference on Robotics and Automation - Yokohama, Japan
Duration: 13 May 202417 May 2024
https://2024.ieee-icra.org/

Conference

Conference2024 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2024
Country/TerritoryJapan
CityYokohama
Period13/05/2417/05/24
Internet address

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