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This paper deals with optimal impedance control of robotic devices designed for rehabilitation of walking after stroke. The proposed optimal solution is based on the estimation of torque and impedance parameters of the patient during the gait. The patient's torque is estimated using the generalized momenta-based disturbance observer associated with the Kalman filter algorithm. The stiffness and damping...
This paper proposes two robot-assisted exercise training methods for knee rehabilitation based on a practical EMG-driven model, aiming to beneficially exploit the patient's ability through neurorehabilitation process. The EMG-driven model is a simplified representation of the musculoskeletal system, with acceptable accuracies to predict the muscle forces and active torque of knee joint. Thus the patient's...
This work presents a new shoulder-elbow exoskeleton (NESM) for upper-limb neurological rehabilitation. The system has four active degrees of freedom, namely shoulder adduction/abduction, flexion/extension and intra/extra rotation and elbow flexion/extension, together with eight additional passive degrees of freedom for the alignment of the motor axes to the human joint axes, regardless the user's...
Electromyography (EMG) signal includes information of intended torque, angle and impedance parameters of the knee joint dynamics. In this paper, Generalized Regression Neural Network (GRNN) and Extreme Learning Machine (ELM) have been used in trying to estimate torque and corresponding angle about knee joint. Mean Frequency (MNF), Median Frequency (MDF), Mean Power (MNP), Total Power (TTP), Power...
Magnetic based strategies are promising to provide solutions for new medical robotic devices. In this paper, we derive an analytical approach for magnetic flux modeling and calculation of force/torque formulas based on a current model. This work is useful for the magnetic design and interaction analysis of medical devices, e.g. for endoscopic procedures.
In this paper, design and control of a rotary series elastic actuator (RSEA) in human rehabilitation are considered. Actuators consist of some parameters that should be determined. Here genetic algorithm (GA) is used for optimally design the actuator parameters for tracking human joint angle and a new robust hybrid adaptive sliding mode control method for its control is presented. Also the actuators...
In this paper, a novel robust nonlinear model is proposed to predict human lower extremity motion based on the multi-channel surface electromyography (sEMG) signals. The prediction model is established by a data-driven dynamic recurrent neural network. The sEMG signals acquired from human lower extremity muscles are used as the inputs of the prediction model. The outputs of the model are joint angles...
Nowadays, compliance is required in various research. Series Elastic Actuator (SEA) has been emerged as one of the promising actuator system, since it provides various benefits such as safety, force sensing, energy storing with its inherent compliance. While the SEA contributes not only to the human interacting robot but also to wide robotics area, there is still limitation in performance that is...
Automated driving systems that share control with human drivers by using haptic feedback through the steering wheel have been shown to have advantages over fully automated systems and manual driving. Here, we describe an experiment to elicit tacit expectations of behavior from such a system. A gaming steering wheel electronically coupled to the steering wheel in a full-car driving simulator allows...
The synthesis and analysis of a state space model of a drive system for the extraction of a pipeline inspection robot is described in this paper. This system has been developed to address the need for inspection of the pipe network distributing jet fuel to the fleet in a national airport. Since it is important to preserve the health of the pipes, the extraction of the inspection robot must be carefully...
This paper presents the results obtained for the synthetization of a feedback vector controller which regulates the variable states a driver system for the extraction of a pipeline inspector robot. Through the paper the synthetization method is described and also the controller implementation is justified because of the working range of the servo-motor which drives the system.
Although Lower Limb Robotic Rehabilitation device exhibit a great prospect in the rehabilitation of impaired limb, yet it has not been widely applied to clinical rehabilitation. This is mostly due to the insufficient bidirectional information interaction between exoskeleton and patient. In the shared control at the interaction point, it is very important that the deficiency of impaired lower limb...
In this paper, a novel robust adaptive control scheme is proposed for a lower limb rehabilitation robot designed by our laboratory. The proposed control strategy is based on the radial basis function (RBF) neural networks and the parameters of the system dynamics are unknown. The weights of the RBF neural networks are updated by an adaptive law according to the Lyapunov stability analysis. The robustness...
Patients with upper limb disabilities caused by neurologic or orthopedic disorder required rehabilitation for the motor function recovery. In this research, based on a novel physical therapy, "bilateral arm training", the bilateral control interface connecting an IMU system and the exoskeleton robot NTUH-II is developed for patients to conduct passive or active-assistive rehabilitation....
A method to compute the optimal sail angle for an autonomous sailboat is proposed, which allows for maximizing the longitudinal velocity while maintaining safe sailing conditions by limiting the roll angle. A simplified 4-DOF dynamic model of the sailboat is used to obtain the roll dynamics and longitudinal sail force. From these expressions, we derive a cost function which depends on the thrust force...
Deformation of optimal trajectories has a great potential in various applications due to the ability of real-time recomputation of the overall trajectory when applying new boundary conditions. This paper presents a novel approach where optimal trajectories are created offline through numerical direct optimal control methods. Afterwards the trajectories are deformed online with a spline deformation...
This paper investigates the behavior of causal Jacobi differentiator in online robot identification applications. The identification process is carried out online using robot dynamic model. Causal Jacobi differentiator is applied to compute the acceleration from the noisy position measurements, with an exact time delay. Moreover its frequency domain property is analyzed via a finite impulse response...
This paper presents an analysis of the relation between effort and gravitational stiffness, two physical measures that depend on the configuration of the robot. It is shown that whenever the gravitational stiffness is maximized, the effort is indirectly minimized. A minimum effort attractor that controls the gravitational stiffness is presented. This attractor together with an attractor to zero joint...
We propose an algorithm for planning the velocity of a vehicle on a pre-planned path applicable to differentially steered, zero turn radius, mobile robots with symmetric mass distribution about the turn axis. This approach uses estimates of path curvature to maintain tracking precision in the vehicle's heading controller. The longitudinal speed of the vehicle is restricted to limit the bandwidth of...
The combination of tendon driven robotic fingers and variable impedance actuation in the DLR hand arm system brings benefits in robustness and dynamics by enabling energy storage. Since the force measurement and motors are in the forearm the tendon path should have low friction for accurate movements and precise finger control. In this paper an enhanced generation of the Awiwi hand finger design is...
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