Next Article in Journal
Investigation of Volatiles Emitted from Freshly Cut Onions (Allium cepa L.) by Real Time Proton-Transfer Reaction-Mass Spectrometry (PTR-MS)
Previous Article in Journal
Identification of Cell-Surface Molecular Interactions under Living Conditions by Using the Enzyme-Mediated Activation of Radical Sources (EMARS) Method
Article Menu

Export Article

Open AccessArticle
Sensors 2012, 12(12), 16046-16059; doi:10.3390/s121216046

Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor

Department of Intelligent Mechanical Systems Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0369, Japan
Automation College, Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang 150001, China
Author to whom correspondence should be addressed.
Received: 17 September 2012 / Revised: 12 November 2012 / Accepted: 12 November 2012 / Published: 22 November 2012
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [404 KB, uploaded 21 June 2014]   |  


According to neuro-rehabilitation practice, active training is effective for mild stroke patients, which means these patients are able to recovery effective when they perform the training to overcome certain resistance by themselves. Therefore, for rehabilitation devices without backdrivability, implementation of human-machine synchronization is important and a precondition to perform active training. In this paper, a method to implement this precondition is proposed and applied in a user’s performance of elbow flexions and extensions when he wore an upper limb exoskeleton rehabilitation device (ULERD), which is portable, wearable and non-backdrivable. In this method, an inertia sensor is adapted to detect the motion of the user’s forearm. In order to get a smooth value of the velocity of the user’s forearm, an adaptive weighted average filtering is applied. On the other hand, to obtain accurate tracking performance, a double close-loop control is proposed to realize real-time and stable tracking. Experiments have been conducted to prove that these methods are effective and feasible for active rehabilitation.
Keywords: exoskeleton device; motion tracking; backdrivability; double close-loop control exoskeleton device; motion tracking; backdrivability; double close-loop control

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Song, Z.; Guo, S.; Xiao, N.; Gao, B.; Shi, L. Implementation of Human-Machine Synchronization Control for Active Rehabilitation Using an Inertia Sensor. Sensors 2012, 12, 16046-16059.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top