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Non-linear adaptive controllers for an over-actuated pneumatic MR-compatible stepper

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Abstract

Pneumatics is one of the few actuation principles that can be used in an MR environment, since it can produce high forces without affecting imaging quality. However, pneumatic control is challenging, due to the air high compliance and cylinders non-linearities. Furthermore, the system’s properties may change for each subject. Here, we present novel control strategies that adapt to the subject’s individual anatomy and needs while performing accurate periodic gait-like movements with an MRI compatible pneumatically driven robot. In subject-passive mode, an iterative learning controller (ILC) was implemented to reduce the system’s periodic disturbances. To allow the subjects to intend the task by themselves, a zero-force controller minimized the interaction forces between subject and robot. To assist patients who may be too weak, an assist-as-needed controller that adapts the assistance based on online measurement of the subject’s performance was designed. The controllers were experimentally tested. The ILC successfully learned to reduce the variability and tracking errors. The zero-force controller allowed subjects to step in a transparent environment. The assist-as-needed controller adapted the assistance based on individual needs, while still challenged the subjects to perform the task. The presented controllers can provide accurate pneumatic control in MR environments to allow assessments of brain activation.

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Acknowledgments

This work was supported in part by the EMDO foundation, Koster foundation, International foundation of paraplegia, and the Swiss National Science Foundation (SNF). Laura Marchal-Crespo holds a Marie Curie International income fellowship PIIF-GA-2010-272289. We thank Alessandro Rotta and Andreas Brunschweiler for their support in machining and assembling of MARCOS, Andrew Pennycott for proofreading, and Jasmin Schneider for her support with EMG recordings.

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Authors and Affiliations

  1. Sensory-Motor Systems (SMS) Lab, Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Zurich, Switzerland

    Christoph Hollnagel, Heike Vallery, Rainer Schädler, Isaac Gómez-Lor López, Lukas Jaeger, Peter Wolf, Robert Riener & Laura Marchal-Crespo

  2. Medical Faculty, Balgrist University Hospital, University of Zurich, Zurich, Switzerland

    Robert Riener & Laura Marchal-Crespo

  3. Biomedical Engineering, Khalifa University of Science, Technology and Research, Abu Dhabi, UAE

    Heike Vallery

Authors
  1. Christoph Hollnagel
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  2. Heike Vallery
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  3. Rainer Schädler
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  4. Isaac Gómez-Lor López
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  5. Lukas Jaeger
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  6. Peter Wolf
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  7. Robert Riener
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  8. Laura Marchal-Crespo
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Correspondence to Laura Marchal-Crespo.

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Hollnagel, C., Vallery, H., Schädler, R. et al. Non-linear adaptive controllers for an over-actuated pneumatic MR-compatible stepper. Med Biol Eng Comput 51, 799–809 (2013). https://doi.org/10.1007/s11517-013-1050-9

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  • DOI: https://doi.org/10.1007/s11517-013-1050-9

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