Abstract
AbstractIn rehabilitation robotics, rehabilitation algorithms determine an appropriate magnitude and direction of assistive force, which is to help the patient perform desired motions. In this paper, proxy-based impedance control is proposed as a rehabilitation algorithm of a cable-driven assistive system. The proposed method applies an assistive joint torque when the human joint angle deviates from the position of the proxy. A free space is assumed around the proxy such that a free motion of the human joint is allowed in a certain range. If the desired inertia of the human body is different from a nominal value, the proposed method also applies assistive torques to compensate for the inertia mismatch. The implementation of rehabilitation algorithms is challenged by actuator dynamics. The proposed method is designed considering the actuator dynamics, and its performance is verified by experiments.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.