A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation

doi:10.1108/IR-10-2020-0230

HFCAS OpenIR

	A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation
	Xu, Jiajun 1,2; Xu, Linsen3 ; Cheng, Gaoxin 1,4; Shi, Jia 1; Liu, Jinfu 5; Liang, Xingcan 1,6; Fan, Shengyao 7
	2021-02-08
发表期刊	INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
ISSN	0143-991X
通讯作者	Xu, Jiajun(jiajun@mail.ustc.edu.cn)
摘要	Purpose This paper aims to propose a bilateral robotic system for lower extremity hemiparesis rehabilitation. The hemiplegic patients can complete rehabilitation exercise voluntarily with the assistance of the robot. The reinforcement learning is included in the robot control system, enhancing the muscle activation of the impaired limbs (ILs) efficiently with ensuring the patients' safety. Design/methodology/approach A bilateral leader-follower robotic system is constructed for lower extremity hemiparesis rehabilitation, where the leader robot interacts with the healthy limb (HL) and the follow robot is worn by the IL. The therapeutic training is transferred from the HL to the IL with the assistance of the robot, and the IL follows the motion trajectory prescribed by the HL, which is called the mirror therapy. The model reference adaptive impedance control is used for the leader robot, and the reinforcement learning controller is designed for the follower robot. The reinforcement learning aims to increase the muscle activation of the IL and ensure that its motion can be mastered by the HL for safety. An asynchronous algorithm is designed by improving experience relay to run in parallel on multiple robotic platforms to reduce learning time. Findings Through clinical tests, the lower extremity hemiplegic patients can rehabilitate with high efficiency using the robotic system. Also, the proposed scheme outperforms other state-of-the-art methods in tracking performance, muscle activation, learning efficiency and rehabilitation efficacy. Originality/value Using the aimed robotic system, the lower extremity hemiplegic patients with different movement abilities can obtain better rehabilitation efficacy.
关键词	Rehabilitation robots Reinforcement learning Mirror therapy
DOI	10.1108/IR-10-2020-0230
收录类别	SCI
语种	英语
WOS研究方向	Engineering ; Robotics
WOS类目	Engineering, Industrial ; Robotics
WOS记录号	WOS:000616586100001
出版者	EMERALD GROUP PUBLISHING LTD
引用统计	被引频次：3[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/119600
专题	中国科学院合肥物质科学研究院
通讯作者	Xu, Jiajun
作者单位	1.Univ Sci & Technol China, Hefei, Peoples R China 2.City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China 3.Chinese Acad Sci, Inst Intelligent Machines, Hefei, Peoples R China 4.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, Changzhou, Jiangsu, Peoples R China 5.Southeast Univ, Sch Automat, Nanjing, Peoples R China 6.Hefei Inst Phys Sci, Hefei, Peoples R China 7.Wuxi Inst Technol, Wuxi, Jiangsu, Peoples R China
推荐引用方式 GB/T 7714	Xu, Jiajun,Xu, Linsen,Cheng, Gaoxin,et al. A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation[J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION,2021.
APA	Xu, Jiajun.,Xu, Linsen.,Cheng, Gaoxin.,Shi, Jia.,Liu, Jinfu.,...&Fan, Shengyao.(2021).A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation.INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION.
MLA	Xu, Jiajun,et al."A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation".INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION (2021).