Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture

Mohd Khairuddin, Ismail and Sidek, Shahrul Na'im and Md. Yusof, Hazlina and Abdul Majeed, A.P.P. and Puzi, A Ahmad and Rosly, H Mat (2018) Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture. In: International Conference on Innovative Technology, Engineering and Sciences 2018 (iCITES 2018), 1-2 March 2018, Pahang, Malaysia.

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Abstract

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 paperpresents an assistive control strategy based on impedance controltechnique. Dynamic modellingofupper arm is obtainedby utilisingthe 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 onacceleration-based impedance model.The resultsshow that impedance controller is more suitable as it allows the cooperative effort of the patient.

Item Type:	Conference or Workshop Item (Other)
Additional Information:	3028/63358
Uncontrolled Keywords:	Activities of Daily Living, Control strategies, Functional recovery, Needed-strategies, Passive treatment, Rehabilitation robotics, Rehabilitation therapy, Robotic rehabilitation
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Shahrul Naim Sidek
Date Deposited:	18 Apr 2018 16:11
Last Modified:	10 Jan 2019 12:49
URI:	http://irep.iium.edu.my/id/eprint/63358

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