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We propose a novel method for movement assistance that is based on adaptive oscillators, i.e., mathematical tools that are capable of extracting the high-level features (amplitude, frequency, and offset) of a periodic signal. Such an oscillator acts like a filter on these features, but keeps its output in phase with respect to the input signal. Using a simple inverse model, we predicted the torque...
Passive and active movement therapies are essential in the rehabilitation process post stroke and other neurological disorders. Considering the shortage of therapists and limited insurance coverage, qualified healthcare services are not always available to patients. There is also a lack of compact rehabilitation robots powerful enough to perform forceful stretching of spastic joint and yet flexible...
A master-slave system has been used to operate a robot. This system is necessary to communicate human intentions to the robot. In this context, we focus on Myo-Electric (ME) potential. In many previous studies, a motor is used as an actuator, and the torque and position are estimated from the ME potential. However joint stiffness, which humans can change, is not considered. It is possible to solve...
Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent...
In this paper the trajectory tracking control of the arm rehabilitation robot for stroke patients is investigated by an interactive robust control approach. The functions of patients' voluntary joint torques are designed depending on the motion ability of their arms, and the dynamic model of the human-robot system is presented. Based on the dynamic model, an interactive controller is designed to provide...
Robotic gait rehabilitation faces many challenges regarding ankle assistance, body weight support and physical human-robot interaction. This paper reports on the development of a gait rehabilitation exoskeleton prototype intended as a platform for the evaluation of design and control concepts in view of improved physical human-robot interaction. The performance of proxy-based sliding mode control...
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