Adaptive control method and system for upper limb rehabilitation robot based on game theory and surface electromyography (sEMG)

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United States of America Patent

PATENT NO 12057224
APP PUB NO 20240096483A1
SERIAL NO

18031152

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Abstract

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An adaptive control method and system for an upper limb rehabilitation robot based on a game theory and surface Electromyography (sEMG) is disclosed. A movement trajectory that a robot is controlled to run within a training time is designed during subject operation. An sEMG-based Back Propagation Neural Network (BPNN) muscle force estimation model establishes a nonlinear dynamic relationship between an sEMG signal and end force by constructing a three-layer neural network. A human-computer interaction system is analyzed by the game theory principle, and a role of the robot is deduced. The control rate between the robot and a subject is updated by Nash equilibrium, and adaptive weight factors of the robot and the subject are determined. The robot adaptively adjusts the training mode thereof according to a movement intention of the subject during operation and a weight coefficient obtained by the game theory principle.

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  • SOUTHEAST UNIVERSITY

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Qingqing Nanjing, CN 8 5
Duan, Yinxin Nanjing, CN 2 0
Li, Xiao Nanjing, CN 322 4192
Song, Aiguo Nanjing, CN 52 24
Zeng, Hong Nanjing, CN 57 106
Zhang, Jianxi Nanjing, CN 4 1

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