Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata

Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata

There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed...

Full description

Bibliographic Details
Main Authors: Sado, Fatai, Sidek, Shahrul Na'im, Md. Yusof, Hazlina
Format: Conference or Workshop Item
Language:English
English
Published: 2014
Subjects:
TA164 Bioengineering
Online Access:http://irep.iium.edu.my/39794/
http://irep.iium.edu.my/39794/
http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf
http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf
id iium-39794
recordtype eprints
spelling iium-397942019-01-10T05:03:07Z http://irep.iium.edu.my/39794/ Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata Sado, Fatai Sidek, Shahrul Na'im Md. Yusof, Hazlina TA164 Bioengineering There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed in this work which uses at its core a hybrid impedance control framework to track simultaneously both desired force and position trajectory, while regulating the apparent impedance of the robot as seen by the patient to ensure robot-patient compliant motion. To make the system adaptive to the patient recovery process, the impedance characteristic of the patient’s impaired limb is modeled as a parameter of recovery, and is estimated online using a recursive polynomial model estimator. A hybrid automata is then implemented to specify different apparent robot impedances to track the recovery process. Preliminary simulation results showed good response of the proposed framework to the changing patient’s arm impedance profile as well as good trajectory tracking of force and position in task space. 2014 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf application/pdf en http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf Sado, Fatai and Sidek, Shahrul Na'im and Md. Yusof, Hazlina (2014) Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata. In: 2014 IEEE Conference on Biomedical Engineering and Sciences (IECBES 2014), 8-10 December 2014, Miri, Sarawak. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7047573
repository_type Digital Repository
institution_category Local University
institution International Islamic University Malaysia
building IIUM Repository
collection Online Access
language English
English
topic TA164 Bioengineering
spellingShingle TA164 Bioengineering
Sado, Fatai
Sidek, Shahrul Na'im
Md. Yusof, Hazlina
Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
description There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed in this work which uses at its core a hybrid impedance control framework to track simultaneously both desired force and position trajectory, while regulating the apparent impedance of the robot as seen by the patient to ensure robot-patient compliant motion. To make the system adaptive to the patient recovery process, the impedance characteristic of the patient’s impaired limb is modeled as a parameter of recovery, and is estimated online using a recursive polynomial model estimator. A hybrid automata is then implemented to specify different apparent robot impedances to track the recovery process. Preliminary simulation results showed good response of the proposed framework to the changing patient’s arm impedance profile as well as good trajectory tracking of force and position in task space.
format Conference or Workshop Item
author Sado, Fatai
Sidek, Shahrul Na'im
Md. Yusof, Hazlina
author_facet Sado, Fatai
Sidek, Shahrul Na'im
Md. Yusof, Hazlina
author_sort Sado, Fatai
title Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
title_short Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
title_full Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
title_fullStr Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
title_full_unstemmed Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
title_sort adaptive hybrid impedance control for a 3dof upper limb rehabilitation robot using hybrid automata
publishDate 2014
url http://irep.iium.edu.my/39794/
http://irep.iium.edu.my/39794/
http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf
http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf
first_indexed 2023-09-18T20:57:07Z
last_indexed 2023-09-18T20:57:07Z
_version_ 1777410378816290816

Similar Items