Voluntary Assist-as-Needed Controller for an Ankle Power-Assist Rehabilitation Robot

Objective: Although existing assist-as-needed (AAN) controllers have been designed to adapt the robotic assistance to patients' movement performance, they ignore patient's active participation. This study proposed a voluntary AAN (VAAN) controller considering both movement performance and active participation for an ankle rehabilitation robot. Methods: According to the trajectory tracking error of the human-robot cooperation movement, the controller can switch among four working modes, including robot-resist, free, robot-assist, and robot-dominant mode. In order to reflect patients' active participation, the voluntary torque of the ankle joint was estimated by an EMG-driven musculoskeletal model. The control torque in robot-resist, free, and robot-assist mode was determined by the voluntary torque of ankle joint multiplied by an assistance ratio to encourage subjects' active participation, and a stiff torque was provided in robot-dominant mode. The controller was evaluated with 2 healthy subjects and 5 stroke patients on an ankle rehabilitation robot to investigate the clinical impact on the stroke patients. Results: The experiment results showed that as patients' disability level increased, the trajectory tracking error increased and the proportion of human-dominant time and the voluntary torque of ankle joint decreased. Moreover, the results showed that the proposed VAAN controller achieved higher human contribution ratio than that of previous studies. Conclusion: The proposed VAAN controller can adapt the working mode to the movement performance and promote the subjects to participate actively. Significance: Based on its performance, the proposed VAAN controller has potential for use in robot-assisted rehabilitation.