Feedback control of oxygen uptake during robotics-assisted end-effector-based stair climbing

摘要: A heart rate (HR) feedback control system for end-effector gait rehabilitation robots was previously developed and successfully tested, but oxygen uptake () is thought to better characterize physiological exercise intensity. The aim of the present study identify compare HR dynamics, develop test a controller an robot operated in stair climbing mode. Six able-bodied subjects were recruited testing. Command response, disturbance rejection robustness assessed by means three quantitative outcome measures: root-mean-square (RMS) error (), average signal power RMS volitionally controlled (). nominal first-order linear model had time constant  s steady-state gain k=0.0174 (l/min)/W. mean significantly higher than , where (p=0.048). responses target profile gave consistent accurate tracking with  l/min,  W2  W Disturbance perform...