ORIGINAL RESEARCH article
Front. Bioeng. Biotechnol.
Sec. Biomechanics
Research on Motion Control of a Novel Stroke Rehabilitation Robot Based on the Dual Parallel Washout Algorithm
Provisionally accepted
- 1Changchun University of Chinese Medicine, Changchun, China
- 2Affiliated Hospital to Changchun University of Chinese Medicine, Changchun, China
- 3Harbin Institute of Technology, Harbin, China
Select one of your emails
You have multiple emails registered with Frontiers:
Notify me on publication
Please enter your email address:
If you already have an account, please login
You don't have a Frontiers account ? You can register here
A motion control strategy based on multi-source heterogeneous motion information fusion and motion decoupling parallel washout algorithm (WA) is proposed for the control of a rehabilitation robot designed for stroke-related balance disorders. The robot features a serial-parallel hybrid structure and humanoid gait functionality, with its output being the pre-defined trajectory motion of the guiding pedals. The WA algorithm is widely applied in motion simulation and control. In this study, the filter parameters of the WA are optimized using multi-objective genetic optimization (MOGA), aiming to minimize the motion perception error introduced by the robot, thereby optimizing the robot's motion trajectory to better align with the human perception threshold and the dynamic response characteristics of the device. A custom-built multi-source heterogeneous sensing system is employed to capture human gait features, enabling the WA to generate specific motion trajectories pre-defined for the rehabilitation robot. To ensure that the optimization search space for each WA channel remains independent and to more accurately reproduce motion details, motion decoupling and dual parallel filtering control strategies are introduced. Through the optimization of the WA filter parameters, the system aims to minimize the theoretical motion perception error experienced by the user during robot-assisted motion training, with the potential to provide a more realistic motion experience and enhanced training outcomes.In the future, long-term follow-up and monitoring of the effectiveness will also be conducted.
Keywords: redundant actuation, Stroke rehabilitation robot, Multi-source heterogeneous information fusion, Multi-biosensor systems, Dual parallel washout algorithm
Received: 15 Sep 2025; Accepted: 09 Dec 2025.
Copyright: © 2025 Yao, Li, Wang, Wu, Liu, Cong and Lou. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Huijuan Lou
Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.