Modified Ashworth Scale (MAS) integrated adaptive impedance control framework for upper extremity training platform

Sidek, Shahrul Na'im and Mat Rosly, Muhammad Hadi and Md. Yusof, Hazlina and Puzi, Asmarani and Daud, Narimah and Mat Rosly, Maziah (2017) Modified Ashworth Scale (MAS) integrated adaptive impedance control framework for upper extremity training platform. In: 2017 IEEE International Conference on Mechatronics and Automation (ICMA), 6th-9th August 2017, Takamatsu, Japan.

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Abstract

Robotic training platform are sought out for their promising therapeutic assistance. However, distinctive advancement has yet to resolve the monotonous and lopsided aspect of current system. Thus, this paper proposes the integration of Modified Ashworth Scale (MAS)-based assessment with dynamic impedance control model, presenting an artificial compliance within the robotic assisted training platform control framework. This enhancement is hypothesised to allow better accommodation of subject’s user input under specified training regimen. Feasibility study was verified via simulation of acceleration-based impedance model under MAS 0 and 1+ contraints for linear forward motion training regimen involving elbow extension.

Item Type:	Conference or Workshop Item (Other)
Additional Information:	3028/58397
Uncontrolled Keywords:	Adaptive control, Impedance, MAS, Robotic Training platform.
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Shahrul Naim Sidek
Date Deposited:	19 Sep 2017 12:13
Last Modified:	10 Jan 2019 12:50
URI:	http://irep.iium.edu.my/id/eprint/58397

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