TY - CHAP
T1 - A Hybrid Automata Framework for an Adaptive Impedance Control of a Robot-Assisted Training System
AU - Khairuddin, Ismail Mohd
AU - Sidek, Shahrul Na’im
AU - Majeed, Anwar P.P.Abdul
AU - Puzi, Asmarani Ahmad
AU - Md Yusof, Hazlina
N1 - Funding Information:
Acknowledgements The authors would like to acknowledge the Ministry of Education Malaysia for supporting this project via the FRGS grant funding (FRGS17-029-0595).
Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2020.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85067693054&partnerID=8YFLogxK
U2 - 10.1007/978-981-13-8323-6_22
DO - 10.1007/978-981-13-8323-6_22
M3 - Chapter
AN - SCOPUS:85067693054
T3 - Lecture Notes in Mechanical Engineering
SP - 257
EP - 265
BT - Lecture Notes in Mechanical Engineering
PB - Pleiades Publishing
ER -