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Abstract
Problem statement: The assistance of person with limited ability of ar m movement is necessary for rehabilitation reasons. This aid is r equired not only to cover the human performances of the arm in motion and force but also to have a stri ctly stable dynamics. In this study, we proposed a cooperative system between a disabled arm and a robotic manipulator to reach such objectives. Desired positions and contact forces were imposed by the di sabled human whereas appropriate torques were applied by the manipulator to follow human intensio n. Approach: Various control strategies were proposed during recent years to solve position/forc e control problem. The impedance control concept was used in this study. A relationship between the dynamics of the robot and its energy was developed to derive stability conditions of the robotic syste m at the constrained motion phase using a suitable Lyapunov approach. Results: New sufficient conditions of asymptotic stability were developed. To prove the efficiency of the proposed approach, a pr ototype of a human arm coupled to cooperative constrained robotic manipulator was used. The simul ation results showed the stability and the performances of the proposed approach. Conclusion: Results showed the possibility of their use in a real context of rehabilitation of injured and disab led people.
Highlights
In recent years, many efforts have been devoted to develop systems that can help people with limited movement or rehabilitate injuries and disabilities
Many technologies have been introduced through proposed robotic devices that are attached to limbs of human body to maintain or improve their functions of movement in constrained environment (Papageorgiou et al, 2006; Soichi et al, 2008; Ikeura and Inooka, 1995)
We present an improved proof of asymptotic stability of constrained robotic systems based on the Lyapunov method using a relationship between the dynamics of the robot and its energy
Summary
Many efforts have been devoted to develop systems that can help people with limited movement or rehabilitate injuries and disabilities. In this context, many technologies have been introduced through proposed robotic devices that are attached to limbs of human body to maintain or improve their functions of movement in constrained environment (Papageorgiou et al, 2006; Soichi et al, 2008; Ikeura and Inooka, 1995). Various control strategies are proposed during recent years to solve position/force problems. These studies were first introduced by Ferrell and Sheridan (1967) and leads to an extensive bibliography. The handbook of Siciliano and Khatib (2008), the books of Fu et al (1987), Siciliano and Villani (1999); Canudas de Wit et al (1996) and Khalil and Dombre (2002), the surveys of Whitney (1987); Patarinski and Botev (1993); Volpe and Khosla (1995); Zeng and Hemami (1997); De Schutter et al (1998); Chiaverini et al (1999) and Yoshikawa (2000) reveal the wealth, development and maturity of this field
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