Journal ArticleDOI
Control system design of a 3-DOF upper limbs rehabilitation robot
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TLDR
This paper presents the control system design of a rehabilitation and training robot for the upper limbs based on a hierarchical structure, which allows the execution of sequence of switching control laws corresponding to the required training configuration.About:
This article is published in Computer Methods and Programs in Biomedicine.The article was published on 2008-02-01. It has received 70 citations till now. The article focuses on the topics: Robot control & Robot kinematics.read more
Citations
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Journal ArticleDOI
Review of control strategies for robotic movement training after neurologic injury
TL;DR: There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury, and this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance.
Journal ArticleDOI
A survey on robotic devices for upper limb rehabilitation
Pawel Maciejasz,Pawel Maciejasz,Pawel Maciejasz,Jörg Eschweiler,Kurt Gerlach-Hahn,Arne Jansen-Troy,Steffen Leonhardt +6 more
TL;DR: A review of robotic devices for upper limb rehabilitation including those in developing phase is document in order to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices.
A survey on robotic devices for upper limb
TL;DR: A review of robotic devices for upper limb rehabilitation including those in developing phase is presented in this paper to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices.
Journal ArticleDOI
Hybrid impedance control of a robot manipulator for wrist and forearm rehabilitation: Performance analysis and clinical results ☆
TL;DR: A complete rehabilitation system, which consists of a rehabilitation robot, an HMI and a hybrid impedance controller that can model all the therapeutic exercises for an upper limb rehabilitation, and the results showed that the hybrid impedance controlled robot can perform the therapeutic exercise very successfully.
Journal ArticleDOI
Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction
TL;DR: A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction and a sliding mode controller is derived to implement low-level torque control of the joint.
References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Journal ArticleDOI
Robot-aided neurorehabilitation
TL;DR: Evidence is presented that robot-aided therapy does not have adverse effects, that patients tolerate the procedure, and that peripheral manipulation of the impaired limb may influence brain recovery, and one approach using kinematic data in a robot- aided assessment procedure.
Proceedings ArticleDOI
Towards a 3g crawling robot through the integration of microrobot technologies
TL;DR: This paper discusses the biomimetic design and assembly of a 3g self-contained crawling robot fabricated through the integrated use of various microrobot technologies and presents results of both the kinematic and static analyses of the driving mechanism that essentially consists of three slider cranks in series.
Proceedings ArticleDOI
The explicit dynamic model and inertial parameters of the PUMA 560 arm
TL;DR: To provide COSMOS, a dynamic model based manipulator control system, with an improved dynamic model, a PUMA 560 arm was disassembled; the inertial properties of the individual links were measured; and an explicit model incorporating all of the non-zero measured parameters was derived.