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...

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Main Authors:	Mohd Khairuddin, Ismail, Sidek, Shahrul Na'im, Ahmad Puzi, Asmarani, Md. Yusof, Hazlina
Format:	Conference or Workshop Item
Language:	English English English
Published:	2018
Subjects:	T Technology (General)
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

id	iium-69447
recordtype	eprints
spelling	iium-694472019-01-08T08:07:00Z http://irep.iium.edu.my/69447/ A hybrid automata framework for an adaptive impedance control of a robot-assisted training system Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina T Technology (General) 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. 2018-12 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/69447/1/RITA%202018-02%20ismail%20paper.pdf application/pdf en http://irep.iium.edu.my/69447/7/cover%20pages%20RITA%202018.pdf application/pdf en http://irep.iium.edu.my/69447/8/RITA%202018pb%20-%20ismail.pdf Mohd Khairuddin, Ismail and Sidek, Shahrul Na'im and Ahmad Puzi, Asmarani and Md. Yusof, Hazlina (2018) A hybrid automata framework for an adaptive impedance control of a robot-assisted training system. In: The 6th International Conference on Robot Intelligence Technology and Applications, 16-18 Dec 2018, Putrajaya, Malaysia. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	T Technology (General)
spellingShingle	T Technology (General) Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
description	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.
format	Conference or Workshop Item
author	Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina
author_facet	Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Ahmad Puzi, Asmarani Md. Yusof, Hazlina
author_sort	Mohd Khairuddin, Ismail
title	A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
title_short	A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
title_full	A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
title_fullStr	A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
title_full_unstemmed	A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
title_sort	hybrid automata framework for an adaptive impedance control of a robot-assisted training system
publishDate	2018
url	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
first_indexed	2023-09-18T21:38:34Z
last_indexed	2023-09-18T21:38:34Z
_version_	1777412986352173056

A hybrid automata framework for an adaptive impedance control of a robot-assisted training system

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