Trajectory Deformation With Constrained Optimization for Bilateral Rehabilitation Robots

Robot-aided bilateral treatment has been verified to be an effective training program for hemiplegic rehabilitation. In this article, a reference-free active control framework based on optimal trajectory deformation is proposed to ensure the safety requirements in the leader–follower paradigm of bilateral treatment. A constrained optimization method is developed to handle the motion constraints, which are constructed by quantitative assessments of typical impairment in stroke patients, such as reduced range of motion, resistance to passive movement, and disturbed quality of movement. Then, by optimally deforming the robotic trajectory, abnormal motion patterns that lead to safety issues can be rectified. Furthermore, the physically interactive trajectory deformation is employed to achieve active control without a predefined trajectory. At last, all approaches are verified on a robotic platform with a 2-DoF lower-limb exoskeleton. Experimental results demonstrate the effectiveness of proposed control scheme in rectifying abnormal motion patterns and enhancing human–robot interaction.