Adolescent Idiopathic Scoliosis (AIS), an abnormal lateral curvature of the patient's spine with vertebral rotation, is one of the biggest problems in the orthopedic profession. Non-surgical treatments of AIS, including bracing, has the following limitations: i) sensor-less design and lack of closed-loop control on the motion and forces exerted on the torso result in no adaption to the skeletal changes during the treatment, ii) lack of interaction control may also make the brace inconvenient and insecure for the patient. In this paper, a novel robotic exoskeleton equipped with linear actuators, position, and force sensors is developed to control the motion and forces exerted on the torso. It consists of three Stewart-Gough Platforms (SGP). Robotic AIS rehabilitation is modeled by combining the dynamics formulation of each SGP with the mass-spring-damper model of the thoracic segment and utilizing the inverse dynamics problem to compute the required forces for moving the spine to the desired position. Numerical ADAMS and MATLAB simulations are used to verify the interaction dynamics formulation. In addition, impedance control is used to control the interaction instead of using position and force control separately. A Model Reference Adaptive Impedance Control (MRAIC) is also proposed to compensate for the negative effects of uncertainties existing in the interaction dynamics modeling and improve the interaction control. The performance of the MRAIC is verified and validated using numerical MATLAB simulations and real-time experiments in terms of position tracking and reference impedance model tracking.


    Access

    Download


    Export, share and cite



    Title :

    Interaction dynamics modeling and adaptive impedance control of robotic exoskeleton for adolescent idiopathic scoliosis



    Publication date :

    2022-06-01


    Remarks:

    Farhadiyadkuri , F , Popal , A M , Paiwand , S S & Zhang , X 2022 , ' Interaction dynamics modeling and adaptive impedance control of robotic exoskeleton for adolescent idiopathic scoliosis ' , Computers in Biology and Medicine , vol. 145 , 105495 . https://doi.org/10.1016/j.compbiomed.2022.105495



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Novel Interaction Control in Adolescent Idiopathic Scoliosis Treatment Using a Robotic Brace

    Farhadiyadkuri, Farhad / Zhang, Xuping | BASE | 2023

    Free access

    ROBOTIC EXOSKELETON WITH ADAPTIVE VISCOUS USER COUPLING

    SUMMER MATTHEW D / BOSSCHER PAUL M | European Patent Office | 2015

    Free access

    Effects of Robotic Exoskeleton Gait Training on an Adolescent with Brain Injury

    Karunakaran, Kiran K. / Ehrenberg, Naphtaly / Cheng, JenFu et al. | IEEE | 2019



    Design of Robotic Braces for Patients with Scoliosis

    Ray, Rahul / Nouaille, Laurence / Colobert, Briac et al. | TIBKAT | 2020