A Review on Hybrid FES-Robotic Control Strategies of Lower-Limb Exoskeleton Robots for Gait Rehabilitation
Meng Lin1, Hou Jie1, Dong Hongtao1, Liu Yuan1, Xu Rui2, Ming Dong1,2#*
1(Academy of Medical Engineering and Translational Medicine, Tianjin University, Tianjin, China 300072) 2(School of Precision Instrument and Optoelectrionics Engineering, Tianjin University, Tianjin, China 300072)
Abstract：Motion rehabilitation plays a significant role in encouraging neuroplasticity and improving motor functions of patients with spinal cord injuries or strokes. In recent years, the incorporation of functional electrical stimulation (FES) and exoskeleton robots has gradually become a research hotspot in the field as the method takes advantages of both rehabilitation technologies while complementing each other. This article introduced a comprehensive review of hybrid FES-robotic control strategies by analyzing technical difficulties from the aspects ofunidirectional FES-orthosis control strategies and cooperative FES-exoskeleton control strategies. We discussed the key problems and potential solutions to design an optimized cooperative control strategy based on a closed-loop human-computer interaction to realize dynamic control allocation and therefore maximize active rehabilitation performance of patients. Finally, we prospected future development of the hybrid rehabilitation technology.
作者简介: #中国生物医学工程学会会员(Member, Chinese Society of Biomedical Engineering)
引用本文:
孟琳, 侯捷, 董洪涛, 刘源, 徐瑞, 明东. 融合功能性电刺激的助行康复外骨骼机器人混合控制策略研究进展[J]. 中国生物医学工程学报, 2022, 41(3): 328-338.
Meng Lin, Hou Jie, Dong Hongtao, Liu Yuan, Xu Rui, Ming Dong. A Review on Hybrid FES-Robotic Control Strategies of Lower-Limb Exoskeleton Robots for Gait Rehabilitation. Chinese Journal of Biomedical Engineering, 2022, 41(3): 328-338.
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