Quantum Driven Dynamic Passivity-Based Neuromechanical Control for Wrist Rehabilitation Robot

摘要

Robotic-assisted rehabilitation for wrist movements demands adaptive systems capable of balancing patient autonomy with robotic support. The integration of artificial intelligence (AI) into robotic-assisted rehabilitation offers transformative potential in delivering personalized, dynamic, and effective therapeutic interventions. This study introduces a novel neuromechanical control framework integrating a passivity observer with Quantum-Enhanced Deep Reinforcement Learning (QDRL) for adaptive impedance scaling in wrist rehabilitation robotics. The passivity observer continuously monitors energy exchanges to classify patient states into passive (patient requiring robotic assistance) and non-passive (patient actively participating) categories, dynamically guiding the robot’s impedance adjustments. Experiments were conducted with ten unimpaired human subjects (eight male and two female), who were instructed to simulate rehabilitation scenarios, focusing on three key wrist movements, flexion/extension (FL/EX), abduction/adduction (AB/AD), and pronation/supination (PR/SU). Experimental results showed high correlations ( > 0.83 ) between energy-based and electromyography (EMG)-based passivity classifications, confirming the reliability of the proposed approach. Furthermore, the designed QDRL model significantly outperformed traditional reinforcement learning methods, achieving superior adaptability, stability, and higher average rewards during robotic impedance control. The framework offers advancement in optimizing robotic assistance during motor recovery, promoting personalized rehabilitation by tailoring interventions to the specific needs of each patient.