Non-linear adaptive impedance controller for rehabilitation purposes

Roberto Oboe, Davide Pilastro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during training. To do that, advanced control strategies and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. This paper describes a novel control strategy, focused in a nonlinear adaptive impedance controller based on position errors, whose aims are: to adapt the exercise to the type and level of injury of patients, to avoid the phenomenon of slack and to help to evaluate performance indices of training sections. Moreover, thanks to the simplicity of the control algorithm and the no additional sensors it can be easily applied in low-cost devices. Several tests are presented using a five-bar linkage robotic device used for upper limbs rehabilitation therapies. The related results help to evaluate performances of this adaptive controller and show its 'assist-as-needed' feature.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages272-277
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: Mar 14 2014Mar 16 2014

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period3/14/143/16/14

Fingerprint

Rehabilitation
Patient rehabilitation
Impedance
Robotics
Controller
Control Strategy
Controllers
Force Feedback
Evaluate
Performance Index
Linkage
Exercise
Control Algorithm
Therapy
Simplicity
Feedback
Sensor
Sensors
Costs
Training

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Oboe, R., & Pilastro, D. (2014). Non-linear adaptive impedance controller for rehabilitation purposes. In International Workshop on Advanced Motion Control, AMC (pp. 272-277). [6823294] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823294

Non-linear adaptive impedance controller for rehabilitation purposes. / Oboe, Roberto; Pilastro, Davide.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 272-277 6823294.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Oboe, R & Pilastro, D 2014, Non-linear adaptive impedance controller for rehabilitation purposes. in International Workshop on Advanced Motion Control, AMC., 6823294, Institute of Electrical and Electronics Engineers Inc., pp. 272-277, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 3/14/14. https://doi.org/10.1109/AMC.2014.6823294
Oboe R, Pilastro D. Non-linear adaptive impedance controller for rehabilitation purposes. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 272-277. 6823294 https://doi.org/10.1109/AMC.2014.6823294
Oboe, Roberto ; Pilastro, Davide. / Non-linear adaptive impedance controller for rehabilitation purposes. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 272-277
@inproceedings{e918b1a7d2134ea997c91c06a3e243a0,
title = "Non-linear adaptive impedance controller for rehabilitation purposes",
abstract = "Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during training. To do that, advanced control strategies and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. This paper describes a novel control strategy, focused in a nonlinear adaptive impedance controller based on position errors, whose aims are: to adapt the exercise to the type and level of injury of patients, to avoid the phenomenon of slack and to help to evaluate performance indices of training sections. Moreover, thanks to the simplicity of the control algorithm and the no additional sensors it can be easily applied in low-cost devices. Several tests are presented using a five-bar linkage robotic device used for upper limbs rehabilitation therapies. The related results help to evaluate performances of this adaptive controller and show its 'assist-as-needed' feature.",
author = "Roberto Oboe and Davide Pilastro",
year = "2014",
doi = "10.1109/AMC.2014.6823294",
language = "English",
isbn = "9781479923243",
pages = "272--277",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Non-linear adaptive impedance controller for rehabilitation purposes

AU - Oboe, Roberto

AU - Pilastro, Davide

PY - 2014

Y1 - 2014

N2 - Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during training. To do that, advanced control strategies and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. This paper describes a novel control strategy, focused in a nonlinear adaptive impedance controller based on position errors, whose aims are: to adapt the exercise to the type and level of injury of patients, to avoid the phenomenon of slack and to help to evaluate performance indices of training sections. Moreover, thanks to the simplicity of the control algorithm and the no additional sensors it can be easily applied in low-cost devices. Several tests are presented using a five-bar linkage robotic device used for upper limbs rehabilitation therapies. The related results help to evaluate performances of this adaptive controller and show its 'assist-as-needed' feature.

AB - Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during training. To do that, advanced control strategies and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. This paper describes a novel control strategy, focused in a nonlinear adaptive impedance controller based on position errors, whose aims are: to adapt the exercise to the type and level of injury of patients, to avoid the phenomenon of slack and to help to evaluate performance indices of training sections. Moreover, thanks to the simplicity of the control algorithm and the no additional sensors it can be easily applied in low-cost devices. Several tests are presented using a five-bar linkage robotic device used for upper limbs rehabilitation therapies. The related results help to evaluate performances of this adaptive controller and show its 'assist-as-needed' feature.

UR - http://www.scopus.com/inward/record.url?scp=84903204388&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903204388&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823294

DO - 10.1109/AMC.2014.6823294

M3 - Conference contribution

SN - 9781479923243

SP - 272

EP - 277

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -