A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
There is an increasing demand for an effective and adaptive robot-assisted training system for traumatic brain injury patients which can considerably promote their sensorimotor control performance, apart from ensuring the safety of the patients. This study focuses on the impedance control framewo...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English English |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/69447/ http://irep.iium.edu.my/69447/1/RITA%202018-02%20ismail%20paper.pdf http://irep.iium.edu.my/69447/7/cover%20pages%20RITA%202018.pdf http://irep.iium.edu.my/69447/8/RITA%202018pb%20-%20ismail.pdf |
| Summary: | There is an increasing demand for an effective and adaptive robot-assisted training
system for traumatic brain injury patients which can considerably promote their
sensorimotor control performance, apart from ensuring the safety of the patients.
This study focuses on the impedance control framework to simultaneously track the
position trajectory while regulating the apparent impedance of the robot. The
framework is based on the hybrid automata model that is used to govern the desired
trajectory deployed by the robot-assisted training in assisting rehabilitative motion.
A designed experimental setup was developed to evaluate the performance of the
proposed hybrid automata scheme. Preliminary simulation results demonstrated the
excellent response of the proposed framework with its ability to track the desired
trajectory as well as the varying patients' arm impedance profile. |
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