Transcranial magnetic stimulation is a powerful and non-invasive technique to stimulate nerve cells in the brain to improve symptoms of depression. It needs accurate contact force and positioning of a stimulating coil to offer effective treatment. Conventionally, a neurologist has to manually place the coil on the patient’s head at a predefined position and orientation throughout the 30-to-45-minute treatment. This paper consequently highlights the design of a robot control framework used for the transcranial magnetic stimulation. The hybrid Proportional-Derivative position and Proportional–Integral force control scheme was successfully implemented on the effective robotic system. The system can track the head movement by using the Kinect camera and simultaneously maintain the contact force between the magnetic coil and the head in real-time. The optimal gain tuning technique was adopted. It delivered PD gains of = 75.0, =2.0 and PI gains of = 0.09 and = 0.011, respectively. This provides a faster response of the robot end-effector with a small interactive force error. The experimental results show that when the head has translational and rotational motions, the robot-assisted transcranial magnetic stimulation control system performs with a safe and reliable manner validated by the quantitative measurement. GRAPHICAL ABSTRACT

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使用混合位置/力控制的机器人辅助经颅磁刺激

经颅磁刺激是一种强大的非侵入性技术，可刺激大脑中的神经细胞以改善抑郁症状。它需要精确的接触力和刺激线圈的定位才能提供有效的治疗。通常，在 30 到 45 分钟的治疗过程中，神经科医生必须手动将线圈放置在患者头部的预定位置和方向上。因此，本文重点介绍了用于经颅磁刺激的机器人控制框架的设计。混合比例微分位置和比例积分力控制方案在有效的机器人系统上成功实施。该系统可以通过使用 Kinect 摄像头跟踪头部运动，同时实时保持磁线圈和头部之间的接触力。采用了最佳增益调谐技术。它分别提供了 = 75.0、=2.0 的 PD 增益和 = 0.09 和 = 0.011 的 PI 增益。这提供了机器人末端执行器的更快响应，并且交互力误差很小。实验结果表明，当头部有平移和旋转运动时，机器人辅助经颅磁刺激控制系统以安全可靠的方式执行，经定量测量验证。图形概要 机器人辅助经颅磁刺激控制系统以经定量测量验证的安全可靠方式运行。图形概要 机器人辅助经颅磁刺激控制系统以经定量测量验证的安全可靠方式运行。图形概要