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In this paper we introduce an adaptive control scheme for robots with elastic joints (in particular for the DLR medical robot) in order to increase the positioning accuracy and the performance of control with respect to uncertainties of the parameters of the robot dynamics. In order to design control and analyze system stability a static friction model is applied which describes Coulomb, viscose and...
To get compact instruments in robot-assisted minimally invasive surgery (MIS), each servo motor was installed the base and motor torque was transmitted to each joint through a tendon-pulley system. Trajectory tracking control is very important in MIS. In this paper, dynamic structure and equation of motion including the effect of rotor inertia for a class of 3-dof tendon-driven minimally invasive...
The use of robotic assistive devices and exoskeletons to supply movement therapy for the rehabilitation of patients following variety of diseases is noticeably growing presently. In order to provide consistent therapy as well as walking assistance, we are developing a wearable lower-limb exoskeleton robot with an adaptive foot device for better walking ability and enhanced stability. In this paper,...
A non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in...
Current clinical practice of robot-aided gait training is not as effective as expected. Cooperative control strategies aim at improving the effectiveness of robot-aided training by empowering patients to participate more actively. Our group has recently proposed the concept of bio-cooperative control, which explicitely considers the role of the human in the loop, as an extension of these strategies...
Interaction control is an important aspect in rehabilitation robots to ensure system safety and allow effective rehabilitation. Due to the significant variability of human limb and joint characteristics, adaptability in the interaction controller is vital for enabling the adjustment of robot behavior to better suit the patient's requirements. A parallel manipulator has been developed for ankle rehabilitation...
An adaptive robot control strategy combining PID-based feedback and Iterative Learning Controller (ILC) is proposed for performing passive reaching tasks for RUPERTtrade (Robotic Upper Extremity Repetitive Therapy), a pneumatic muscle driven rehabilitation robotic device. Additionally, a fuzzy rule-base is used to estimate the ILC learning rate to achieve an optimized learning. The preliminary test...
In this work a comparative analysis is carried out of adaptive compliance control laws developed by the authors for biomedical applications of human-robot interaction. They are the self-regulated compliance control in the joint space in [1], the coactivation-based compliance control in the joint space in [2] and the torque-dependent compliance control in the joint space in [3]. The control laws try...
This work presents the design and evaluation of knee joint controllers for an above-knee prosthesis. The prototype is a three degree of freedom prosthesis which is planned to be controlled in part by EMG thigh signals, in part by a predictive trajectory generator based on multisensorial data such that the foot can be correctly positioned with respect the floor. There is described a simplified non-linear...
The rehabilitation robot Lokomat allows automated treadmill training for patients with neurological gait disorders. The basic position control approach for the robot has been extended to patient-cooperative strategies. These strategies provide more freedom and allow patients to actively influence their training. However, patients are likely to need additional support during patient-cooperative training...
Pneumatic muscle actuator has many advantages such as high power/weight ratio, high power/volume ratio, low price, little maintenance needed, great compliance, and inherent safety. Therefore, it can be suitably applied to rehabilitation engineering for persons with neuromuscular or musculoskeletal pathologies affecting extremity functions. However, excellent control performance can hardly be achieved...
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