izvestswsuИзвестия Юго-Западного государственного университетаProceedings of the Southwest State University2223-15602686-6757ЮЗГУ10.21869/2223-1560-2021-25-3-103-119izvestswsu-927Research ArticleИнформатика, вычислительная техника и управлениеComputer science, computer engineering and IT managmentМоделирование системы управления исполнительных звеньев реабилитационного экзоскелета с учетом эффекта спастичностиSimulation of Control System of Executive Links of Rehabilitation Exoskeleton Considering Spasticity Effecthttps://orcid.org/0000-0002-7420-0772ЯцунС. Ф.JatsunS. F.

Яцун Сергей Федорович, доктор технических наук, профессор, заведующий кафедрой механики, мехатроники и робототехники

ResearcherID G-3891-2017

ул. 50 лет Октября, д. 94, г. Курск 305040

Sergey F. Jatsun, Dr. of Sci. (Engineering), Professor, Head of Department Mechanics of mechatronics and robotics

ResearcherID G-3891-2017

50 Let Oktyabrya str. 94, Kursk 305040

https://orcid.org/0000-0003-2902-1721МальчиковА. В.MalchikovA. V.

Мальчиков Андрей Васильевич, доцент, старший начный сотрудник, кафедра механики, мехатроники и робототехники

ResearcherID N-8856-2016

ул. 50 лет Октября, д. 94, г. Курск 305040

Andrei V. Malchikov, Associate Professor, Senior Researcher of Department Mechanics of mechatronics and robotics

ResearcherID N-8856-2016

50 Let Oktyabrya str. 94, Kursk 305040

zveroknp@gmail.comПостольныйА. А.PostolnyА. А.

Постольный Алексей Александрович, преподаватель кафедры механики, мехатроники и робототехники

ул. 50 лет Октября, д. 94, г. Курск 305040

Alexey A. Postolny, Lecturer of Department Mechanics of mechatronics and robotics

50 Let Oktyabrya str. 94, Kursk 305040

a.postolniy@mail.ruhttps://orcid.org/0000-0002-9336-7295ЯцунА. С.YatsunA. S.

Яцун Андрей Сергеевич, кандадат технических наук, доцент, заведующий лабораторией НИЛ МИР, кафедра механики, мехатроники и робототехники

ResearcherID N-6212-2016

ул. 50 лет Октября, д. 94, г. Курск 305040

Andrey S. Yatsun, Cand. of Sci. (Engineering), Head of Research Laboratory MIR, Associate Professor, Senior Researcher of Department Mechanics of mechatronics and robotics

50 Let Oktyabrya str. 94, Kursk 305040

ayatsun@yandex.ruЮго-Западный государственный университетSouthwest State University202129012022253103119Copyright © Яцун С.Ф., Мальчиков А.В., Постольный А.А., Яцун А.С., 20222022Яцун С.Ф., Мальчиков А.В., Постольный А.А., Яцун А.С.Jatsun S.F., Malchikov A.V., Postolny А.А., Yatsun A.S.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://izvestswsu.elpub.ru/jour/article/view/927

Цель исследование. Математическое моделирование адаптивной системы управления реабилитационного экзоскелетного комплекса, позволяющей учитывать эффекты взаимодействия человека с исполнительными звеньями приводной системы, в том числе детектировать появление эффекта спастичности. Для достижения поставленной цели авторами работы решаются следующие задачи: разработка концепции человеко-машинного взаимодействия, описание информационной инфраструктуры экзоскелетного комплекса; разработка структуры адаптивной системы управления, позволяющей учитывать взаимодействие человека с роботом в процессе движения; разработка математической модели человеко-машинной системы (ЧМС) и постановка вычислительных экспериментов с целью отработки алгоритмов адаптивного управления при различных условиях, разработка метода детектирования явления спастичности и алгоритма адаптивной системы управления, обеспечивающего безопасность пациента.Методы. При построении математической модели ЧМС учитываются биомеханические и физиологические свойства объекта манипулирования, механические свойства силовых элементов конструкции, а также особенности работы информационной системы электромеханического устройства. В работе используется математическая модель, представленная системой дифференциальных уравне-ний второго порядка, описывающих динамику совместного движения исполнительных звеньев экзоске-лета и конечности оператора.Результаты. В ходе численного моделирования получены временные диаграммы изменения углов поворота звеньев экзоскелета и ноги оператора, законы изменения крутящих моментов в шарнирах и усилия на манжетах, характеризующие человеко-машинное взаимодействие при различных режимах и условиях функционирования устройства.Заключение. На основании полученных результатов математического моделирования функционирования ЧМС сделаны выводы о применимости предлагаемых алгоритмов адаптивной системы управления при различных режимах и условиях функционирования экзоскелетного комплекса, в том числе для реабилитации пациентов с возможностью возникновения спастичности.

Purpose of research. Mathematical modeling of the adaptive control system of the rehabilitation exoskeleton complex, which allows considering the effects of human interaction with the actuators of the drive system, including detecting the appearance of the spasticity effect. The authors of this work solve the following problems: development of human-machine interaction concept, description of the information infrastructure of the exoskeleton complex; development of a structure of an adaptive control system that allows to take into account the interaction of a person with a robot in the process of movement; development of a mathematical model of a man-machine system (MMS) and setting up computational experiments in order to develop adaptive control algorithms under various conditions, development of a method for detecting a spasticity phenomenon and an algorithm of an adaptive control system providing patient safety.Methods. When constructing a mathematical model of the MMS, biomechanical and physiological properties of the manipulation object, mechanical properties of power elements of the structure, as well as features of the operation of the information system of electromechanical device are considered. The work uses mathematical model represented by a system of differential equations of the second order, describing the dynamics of the joint movement of executive links of the exoskeleton and the limb of the operator.Results. During numerical simulation time diagrams of rotation angles changes of exoskeleton links and operator's leg, laws of torques changes in hinges and forces on cuffs characterizing man-machine interaction under various modes and conditions of device functioning are obtained.Conclusion. Conclusions were drawn on applicability of the proposed algorithms of adaptive control system under various modes and conditions of exoskeleton complex functioning, including for rehabilitation of patients with the possibility of spasticity. The conclusions were drawn based on the obtained results of mathematical modeling of MMS functioning.

человеко-машинная системасистема управленияадаптивное управлениеколлабо- ративная робототехникаэкзоскелетman-machine systemcontrol systemadaptive managementcollaborative roboticsexoskeletonИсследование выполнено при финансовой поддержке гранта президента проект № MK- 780.2020.8ReferencesAl-Quraishi M. S. et al. EEG-based control for upper and lower limb exoskeletons and prostheses: A systematic review // Sensors. 2018. Т. 18. N.10. P. 3342. https://doi.org/10.3390/s18103342Al-Quraishi M. S. et al. EEG-based control for upper and lower limb exoskeletons and prostheses: A systematic review // Sensors. 2018. Т. 18. N.10. P. 3342. https://doi.org/10.3390/s18103342Bhagat N. A. et al. Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors //Frontiers in neuroscience. 2016. – Т. 10. P. 122. https://doi.org/10.3389/fnins.2016.00122Bhagat N. A. et al. Design and optimization of an EEG-based brain machine interface (BMI) to an upper-limb exoskeleton for stroke survivors //Frontiers in neuroscience. 2016. – Т. 10. P. 122. https://doi.org/10.3389/fnins.2016.00122Kawamoto H. et al. Power assist method for HAL-3 using EMG-based feedback controller //SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme-System Security and Assurance (Cat. No. 03CH37483). IEEE, 2003. Т. 2. P. 1648-1653. https://doi.org/10.1109/ICSMC.2003.1244649Kawamoto H. et al. Power assist method for HAL-3 using EMG-based feedback controller //SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme-System Security and Assurance (Cat. No. 03CH37483). IEEE, 2003. Т. 2. P. 1648-1653. https://doi.org/10.1109/ICSMC.2003.1244649Rosen J. et al. A myosignal-based powered exoskeleton system //IEEE Transactions on systems, Man, and Cybernetics-part A: Systems and humans. 2001. Т. 31. №. 3. P. 210-222. https://doi.org/10.1109/3468.925661Rosen J. et al. A myosignal-based powered exoskeleton system //IEEE Transactions on systems, Man, and Cybernetics-part A: Systems and humans. 2001. Т. 31. №. 3. P. 210-222. https://doi.org/10.1109/3468.925661Jatsun S., Malchikov A., Loktionova O. Modeling of Human-Machine Interaction in an Industrial Exoskeleton Control System //International Conference on Interactive Collaborative Robotics. Springer, 2020. P.116-125. https://doi.org/10.1007/978-3-030-60337-3_12Jatsun S., Malchikov A., Loktionova O. Modeling of Human-Machine Interaction in an Industrial Exoskeleton Control System //International Conference on Interactive Collaborative Robotics. Springer, 2020. P.116-125. https://doi.org/10.1007/978-3-030-60337-3_12Aguirre-Ollinger G. et al. Active-impedance control of a lower-limb assistive exoskeleton //2007 IEEE 10th international conference on rehabilitation robotics. IEEE, 2007. P. 188-195. https://doi.org/10.1109/ICORR.2007.4428426Aguirre-Ollinger G. et al. Active-impedance control of a lower-limb assistive exoskeleton //2007 IEEE 10th international conference on rehabilitation robotics. IEEE, 2007. P. 188-195. https://doi.org/10.1109/ICORR.2007.4428426Anam K., Al-Jumaily A. A. Active exoskeleton control systems: State of the art // Procedia Engineering. 2012. Т. 41. P. 988-994. https://doi.org/10.1016/j.proeng.2012.07.273Anam K., Al-Jumaily A. A. Active exoskeleton control systems: State of the art // Procedia Engineering. 2012. Т. 41. P. 988-994. https://doi.org/10.1016/j.proeng.2012.07.273Kazerooni H., Steger R., Huang L. Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX) //The International Journal of Robotics Research. 2006. Т. 25. № 5-6. P. 561-573. https://doi.org/10.1177/0278364906065505Kazerooni H., Steger R., Huang L. Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX) //The International Journal of Robotics Research. 2006. Т. 25. № 5-6. P. 561-573. https://doi.org/10.1177/0278364906065505Jatsun S., Malchikov A., Yatsun A. Comparative Analysis of the Industrial Exoskeleton Control Systems // Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Springer, Singapore, 2020. P. 63-74. https://doi.org/10.1007/978-981-13-9267-2_6Jatsun S., Malchikov A., Yatsun A. Comparative Analysis of the Industrial Exoskeleton Control Systems // Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin's Readings”. Springer, Singapore, 2020. P. 63-74. https://doi.org/10.1007/978-981-13-9267-2_6Sheean G. The pathophysiology of spasticity //European journal of neurology. 2002. Т. 9. P. 3-9. https://doi.org/10.1046/j.1468-1331.2002.0090s1003.xSheean G. The pathophysiology of spasticity //European journal of neurology. 2002. Т. 9. P. 3-9. https://doi.org/10.1046/j.1468-1331.2002.0090s1003.xStampacchia G. et al. Walking with a powered robotic exoskeleton: Subjective experience, spasticity and pain in spinal cord injured persons //NeuroRehabilitation. 2016. Т. 39. No.2. P. 277-283. https://doi.org/10.3233/NRE-161358Stampacchia G. et al. Walking with a powered robotic exoskeleton: Subjective experience, spasticity and pain in spinal cord injured persons //NeuroRehabilitation. 2016. Т. 39. No.2. P. 277-283. https://doi.org/10.3233/NRE-161358Chernikova L.A. et al. Effect of the use of robotic devices ("Erigo" and "Lokomat") in the early stages after ischemic stroke // Bulletin of rehabilitation medicine. 2008. No.5. P. 73-75.Chernikova L.A. et al. Effect of the use of robotic devices ("Erigo" and "Lokomat") in the early stages after ischemic stroke // Bulletin of rehabilitation medicine. 2008. No.5. P. 73-75.Jatsun S., Malchikov A., Yatsun A.. Simulation of a walking robot-exoskeleton movement on a movable base //ROBOTS IN HUMAN LIFE. P. 15. https://doi.org/10.13180/clawar.2020.24-26.08.26Jatsun S., Malchikov A., Yatsun A.. Simulation of a walking robot-exoskeleton movement on a movable base //ROBOTS IN HUMAN LIFE. P. 15. https://doi.org/10.13180/clawar.2020.24-26.08.26Hill A. Mechanics of muscle contraction: Old and new experiences: Transl. from English. Mir, 1972.Hill A. Mechanics of muscle contraction: Old and new experiences: Transl. from English. Mir, 1972.Heo P. et al. Current hand exoskeleton technologies for rehabilitation and assistive engineering //International Journal of Precision Engineering and Manufacturing. 2012. Т. 13. № 5. P. 807-824. https://doi.org/10.1007/s12541-012-0107-2Heo P. et al. Current hand exoskeleton technologies for rehabilitation and assistive engineering //International Journal of Precision Engineering and Manufacturing. 2012. Т. 13. № 5. P. 807-824. https://doi.org/10.1007/s12541-012-0107-2Veneman J. F. et al. Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation //IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2007. Т. 15. №. 3. P. 379-386. https://doi.org/10.1109/TNSRE.2007.903919Veneman J. F. et al. Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation //IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2007. Т. 15. №. 3. P. 379-386. https://doi.org/10.1109/TNSRE.2007.903919Pratt G. A., Williamson M. M. Series elastic actuators //Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. IEEE, 1995. Т. 1. P. 399-406. https://doi.org/10.1109/IROS.1995.525827Pratt G. A., Williamson M. M. Series elastic actuators //Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots. IEEE, 1995. Т. 1. P. 399-406. https://doi.org/10.1109/IROS.1995.525827Lu R. et al. Development and learning control of a human limb with a rehabilitation exoskeleton //IEEE Transactions on Industrial Electronics. 2013. Т. 61. № 7. P. 3776-3785. https://doi.org/10.1371/journal.pone.0148942Lu R. et al. Development and learning control of a human limb with a rehabilitation exoskeleton //IEEE Transactions on Industrial Electronics. 2013. Т. 61. № 7. P. 3776-3785. https://doi.org/10.1371/journal.pone.0148942Rajasekaran V. et al. An adaptive control strategy for postural stability using a wearable robot //Robotics and Autonomous Systems. 2015. Т. 73. P. 16-23. https://doi.org/10.1016/j.robot.2014.11.014Rajasekaran V. et al. An adaptive control strategy for postural stability using a wearable robot //Robotics and Autonomous Systems. 2015. Т. 73. P. 16-23. https://doi.org/10.1016/j.robot.2014.11.014Brahmi B. et al. Adaptive tracking control of an exoskeleton robot with uncertain dynamics based on estimated time-delay control //IEEE/ASME Transactions on Mechatronics. 2018. Т. 23. №. 2. P. 575-585. https://doi.org/10.1109/TMECH.2018.2808235Brahmi B. et al. Adaptive tracking control of an exoskeleton robot with uncertain dynamics based on estimated time-delay control //IEEE/ASME Transactions on Mechatronics. 2018. Т. 23. №. 2. P. 575-585. https://doi.org/10.1109/TMECH.2018.2808235

The authors declare that there are no conflicts of interest present.