Ding, B, Ai, Q, Liu, Q et al. (1 more author) (2015) Path Control of a Rehabilitation Robot Using Virtual Tunnel and Adaptive Impedance Controller. In: Proceedings of the ISCID 2014: 7th International Symposium on Computational Intelligence and Design. ISCID 2014: 7th International Symposium on Computational Intelligence and Design, 13-14 Dec 2014, Hangzhou, China. IEEE , pp. 158-161. ISBN 978-1-4799-7004-9
Abstract
Interactive control strategies have been widely used in many rehabilitation robotic devices. The distinctive feature of these strategies is that the patient can be encouraged to actively participant in the therapy program. In this paper, a novel adaptive impedance control method, which allows the patient to actively influence the robot movement trajectory, is presented. The control algorithm developed in this paper is capable of regulating the desired impedance according to the patient's actual deviation from the desired path and the dynamic relationship between patients' motion intention and the reference trajectory. A virtual tunnel surrounding the reference trajectory is designed to ensure the patient's range of motion is always physiologically meaningful. The proposed rehabilitation strategy encourages participants to make contributions to rehabilitation training task as much as possible, which may facilitate provoking motor plasticity and motor recovery. Preliminary experiments with several healthy subjects were conducted to evaluate the feasibility and effectiveness of this strategy. Experimental results demonstrated that subjects could successfully finish the tracking task assisted by robot with the proposed control algorithm.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014 IEEE. This is an author produced version of a paper published in Proceedings of the ISCID 2014: 7th International Symposium on Computational Intelligence and Design. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | path control; rehabilitation robot; virtual tunnel; adaptive impedance controller |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 26 Jun 2018 12:57 |
Last Modified: | 26 Jun 2018 12:57 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ISCID.2014.204 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:125854 |