Feedback control of heart rate during robotics-assisted end-effector-based stair climbing

摘要

End-effector robots for gait training have potential for cardiovascular fitness therapy. We developed and tested a heart rate (HR) controller for end-effector robots, operated in stair-climbing mode. The structure has an inner loop for volitional control of exercise work rate and an automatic outer loop to compute target work rate and control HR. Feedback design focused on disturbances caused by HR variability, by shaping the input-sensitivity function to give low-pass loop characteristics. Using five able-bodied subjects, command response tests revealed consistent, accurate and stable performance for all subjects with root-mean-square (RMS) HR tracking error bpm (mean ± SD) and average control signal power W2. Disturbances in cadence were successfully rejected with RMS HR tracking error bpm and average control signal power W2. Feasibility of the HR control strategy for end-effector robots was proven. The controller showed consistent behaviour for all command response and disturbance rejection tasks. Robustness was proven since the single LTI controller used a nominal model which was not specific to any of the five subjects. Physiological HR variability is the principal feedback design issue for HR control, while parametric/structural plant uncertainty is secondary.