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Open AccessArticle

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

1
Department of Intelligent Mechanical Systems Engineering, Kagawa University, Hayashi-cho, Takamatsu 761-0369, Japan
2
Automation College, Harbin Engineering University, 145 Nantong Street, Harbin, Heilongjiang 150001, China
*
Author to whom correspondence should be addressed.
Sensors 2012, 12(12), 16046-16059; https://doi.org/10.3390/s121216046
Received: 17 September 2012 / Revised: 12 November 2012 / Accepted: 12 November 2012 / Published: 22 November 2012
(This article belongs to the Section Physical Sensors)
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. View Full-Text
Keywords: exoskeleton device; motion tracking; backdrivability; double close-loop control exoskeleton device; motion tracking; backdrivability; double close-loop control
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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.

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