A Survey of Intelligent Control of Upper Limb Rehabilitation Exoskeleton

被引：0
|
作者：
Cheng L. [1 ,2 ]
Xia X. [1 ,2 ]
机构：
[1] The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing
[2] School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing
来源：
Jiqiren/Robot | 2022年 / 44卷 / 06期
关键词：
intelligent control system; motion intention recognition; rehabilitation; trajectory planning; upper limb exoskeleton;
D O I：
10.13973/j.cnki.robot.210450
中图分类号：
学科分类号：
摘要：
Application of exoskeletons is expected to relieve the enormous pressure on Chinese rehabilitation medical resources. The key to the application of rehabilitation exoskeletons is to ensure that the rehabilitation experience is safe, effective and comfortable, and intelligent control technology is an effective means of responding to these needs. Based on the hierarchical structure of the intelligent control system, this paper summarizes the research status of controllers at all levels in the intelligent control system of the upper limb rehabilitation exoskeleton in recent years. It mainly includes motion intention recognition in the upper controller, motion trajectory planning in the middle controller, and actuator control in the bottom controller. Finally, the existing problems and the development trends of the upper limb exoskeleton control systems are presented. © 2022 Chinese Academy of Sciences. All rights reserved.
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页码：750 / 768
页数：18
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