Scholarlink

<p>Portable wearable robots offer promise for assisting people with upper limb disabilities. However, movement variability between individuals and trade-offs between supportiveness and transparency complicate robot control during real-world tasks. We address these challenges by first developing a personalized ML intention detection model to decode user’s motion intention from IMU and compression sensors. Second, we leverage a physics-based hysteresis model to enhance control transparency and adapt it for practical use in real-world tasks. Third, we combine and integrate these two models into a real-time controller to modulate the assistance level based on the user’s intention and kinematic state. Fourth, we evaluate the effectiveness of our control strategy in improving arm function in a multi-day evaluation. For 5 individuals post-stroke and 4 living with ALS wearing a soft shoulder robot, we demonstrate that the controller identifies shoulder movement with 94.2% accuracy from minimal change in the shoulder angles (elevation: 3.4°, depression: 1.7°) and reduces arm-lowering force by 31.9% compared to a baseline controller. Furthermore, the robot improves movement quality by increasing their shoulder elevation/depression (17.5°), elbow (10.6°) and wrist flexion/extension (7.6°) ROMs; reducing trunk compensation (up to 25.4%); and improving hand-path efficiency (up to 53.8%).</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Personalized ML-based wearable robot control improves impaired arm function

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年8月2日

查看全文
  • James Arnold,
  • Prabhat Pathak,
  • Yichu Jin,
  • David Pont-Esteban,
  • Connor M. McCann,
  • Carolin Lehmacher,
  • John P. Bonadonna,
  • Tanguy Lewko,
  • Katherine M. Burke,
  • Sarah Cavanagh,
  • Lynn Blaney,
  • Kelly Rishe,
  • Tazzy Cole,
  • Sabrina Paganoni,
  • David Lin,
  • Conor J. Walsh

摘要

Portable wearable robots offer promise for assisting people with upper limb disabilities. However, movement variability between individuals and trade-offs between supportiveness and transparency complicate robot control during real-world tasks. We address these challenges by first developing a personalized ML intention detection model to decode user’s motion intention from IMU and compression sensors. Second, we leverage a physics-based hysteresis model to enhance control transparency and adapt it for practical use in real-world tasks. Third, we combine and integrate these two models into a real-time controller to modulate the assistance level based on the user’s intention and kinematic state. Fourth, we evaluate the effectiveness of our control strategy in improving arm function in a multi-day evaluation. For 5 individuals post-stroke and 4 living with ALS wearing a soft shoulder robot, we demonstrate that the controller identifies shoulder movement with 94.2% accuracy from minimal change in the shoulder angles (elevation: 3.4°, depression: 1.7°) and reduces arm-lowering force by 31.9% compared to a baseline controller. Furthermore, the robot improves movement quality by increasing their shoulder elevation/depression (17.5°), elbow (10.6°) and wrist flexion/extension (7.6°) ROMs; reducing trunk compensation (up to 25.4%); and improving hand-path efficiency (up to 53.8%).