TY - JOUR
T1 - Assistive-as-needed strategy for upper-limb robotic systems
T2 - International Conference on Innovative Technology, Engineering and Sciences 2018, iCITES 2018
AU - Khairuddin, I. M.
AU - Sidek, S. N.
AU - Md Yusof, H.
AU - Abdul Majeed, A. P.P.
AU - Ahmad Puzi, A.
AU - Mat Rosly, H.
N1 - Funding Information:
The work presented was carried out in the Biomechatronics Research Laboratory of International Islamic University Malaysia. The author wishes to gratefully acknowledge the E-Science grant funding (SF15-015-0065) from the Ministry of Science, Technology and Innovation Malaysia
Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2018/4/6
Y1 - 2018/4/6
N2 - Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paper presents an assistive control strategy based on impedance control technique. Dynamic modelling of upper arm is obtained by utilising the Euler-Lagrange formulation. The proportional-derivative (PD), computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller on acceleration-based impedance model. The results show that impedance controller is more suitable as it allows the cooperative effort of the patient.
AB - Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paper presents an assistive control strategy based on impedance control technique. Dynamic modelling of upper arm is obtained by utilising the Euler-Lagrange formulation. The proportional-derivative (PD), computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller on acceleration-based impedance model. The results show that impedance controller is more suitable as it allows the cooperative effort of the patient.
UR - http://www.scopus.com/inward/record.url?scp=85046282646&partnerID=8YFLogxK
U2 - 10.1088/1757-899X/342/1/012049
DO - 10.1088/1757-899X/342/1/012049
M3 - Conference article
AN - SCOPUS:85046282646
SN - 1757-8981
VL - 342
JO - IOP Conference Series: Materials Science and Engineering
JF - IOP Conference Series: Materials Science and Engineering
IS - 1
M1 - 012049
Y2 - 1 March 2018 through 2 March 2018
ER -