Download or read book Human robot Interaction Control of an Intrinsically Compliant Parallel Wrist Rehabilitation Robot written by Tanishka Goyal and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of rehabilitation has undergone tremendous transformation in recent years. From conventional forms of rehabilitative therapy that included a monotonous, repetitive exercise to the inclusion of rehabilitation robots to make the therapeutical treatment less daunting. Rehabilitation robots provide an objective, engaging, and inexpensive alternative to traditional practices while reducing the burden on the healthcare system as well as the patient. However, in the last few decades, the development of such devices was more focused on the lower limb. Due to the complexity of movements, the devices available for rehabilitating the wrist are limited in the literature. Therefore, this research aims to develop a compliant parallel robot for wrist rehabilitation in three degrees of rotational freedom: Pronation/Supination (PS), Flexion/Extension (FE), and Adduction/Abduction (AA). Novel control strategies have been developed to guide the robot in assisting the patient in achieving the rehabilitative goal. The developed prototype follows an end-effector design with a parallel mechanism. Intrinsically compliant Biomimetic Muscle Actuators (BMA) power the prototype and provide the necessary movement. Since these actuators have inherent hysteresis and transient characteristics, a heuristic model has been developed to provide an accurate and time-efficient relationship. The rehabilitation robots, by definition, work in proximity to the human subject and work in partnership; hence, physical interaction is certain. The physical human-robot interaction has highly nonlinear and uncertain dynamics. Therefore, the Koopman Operator theory has been employed to develop a system identification model. The Koopman Operator is a mathematical tool that linearizes highly nonlinear dynamical systems by lifting the state space into an infinite dimensional space. This data-driven approach helps identify the nonlinear system dynamics and develop a trajectory-tracking controller for wrist rehabilitation. The effectiveness of the Koopman Operator is also tested in designing an adaptive controller to predict anatomical stiffness. In a healthy person, the anatomical stiffness is accommodated by the neuromuscular system, which is affected by stroke. Hence, a successful controller should adapt to the anatomical stiffness and the altered physiological capabilities. The Koopman Operator was used to develop the model for predicting anatomical stiffness, which depends on the axis of rotation and the geometric orientation. Rehabilitation therapy can be considered a joint task undertaken by the human subject and the robot with physical interaction. In other words, it can be deemed a coordination game with the human and the robot as the two players. The human's strategy is unknown to the robot, but the controller should interpret the human subject's intention. Therefore, an adaptive estimation method was developed to estimate the human's intention and then assist them in achieving the goal while fulfilling the common objective of wrist rehabilitation. The concept of modeling the human subject and the robot as two agents with a common goal are then extended to exploring them as two independent energy sources. As active human participation is crucial for prompt recovery, the robot is expected to decrease its energy dissipation to increase the level of involvement from the patient. An autodidactic algorithm was developed to estimate the transactive energy between humans and robots during physical interaction. The energy dissipation of the human and the robot was mapped for each orientation attained during the rehabilitation session. The physiological capabilities and the effects of stroke vary from patient to patient. Therefore, it is crucial that the controller can adapt to diverse needs. Accordingly, smart avatars were programmed to learn from the human subject in real-time and provide an energy-efficient rehabilitation trajectory. The smart avatars included a controller with energy optimization to modify the trajectory to minimize the robot's energy dissipation and an Inverse Dynamics model to simulate the subject and estimate the subject's involvement. The avatar was then appended with an Assist-as-Needed controller that calculates the robot's participation in achieving the goal successfully. The essential contributions of this research are the development of an intrinsically compliant parallel robot for wrist rehabilitation with energy-efficient control algorithms. The algorithms developed in this research were successfully tested with healthy human subjects; however, extensive clinical trials with neurologically impaired subjects are required to establish the efficiency of the proposed prototype.

Download or read book Interfacing Humans and Robots for Gait Assistance and Rehabilitation written by Carlos A. Cifuentes and published by Springer Nature. This book was released on 2021-09-16 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: The concepts represented in this textbook are explored for the first time in assistive and rehabilitation robotics, which is the combination of physical, cognitive, and social human-robot interaction to empower gait rehabilitation and assist human mobility. The aim is to consolidate the methodologies, modules, and technologies implemented in lower-limb exoskeletons, smart walkers, and social robots when human gait assistance and rehabilitation are the primary targets. This book presents the combination of emergent technologies in healthcare applications and robotics science, such as soft robotics, force control, novel sensing methods, brain-computer interfaces, serious games, automatic learning, and motion planning. From the clinical perspective, case studies are presented for testing and evaluating how those robots interact with humans, analyzing acceptance, perception, biomechanics factors, and physiological mechanisms of recovery during the robotic assistance or therapy. Interfacing Humans and Robots for Gait Assistance and Rehabilitation will enable undergraduate and graduate students of biomedical engineering, rehabilitation engineering, robotics, and health sciences to understand the clinical needs, technology, and science of human-robot interaction behind robotic devices for rehabilitation, and the evidence and implications related to the implementation of those devices in actual therapy and daily life applications.

Download or read book Design Analysis and Control of Wearable Ankle Rehabilitation Robot written by Prashant Kumar Jamwal and published by . This book was released on 2011 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: While rehabilitation robots are not uncommon in the literature, they are undesirably inspired by industrial robot designs. Some of the shortcomings which are common to all these contemporary robots are, kinematic incompatibility, stiff actuation, non-backdrivability, high cost, unfriendly or intimidating appearance due to use of heavy and bulky electromagnetic actuators. Wearable robots, owing to their biologically inspired design, compliant actuation, backdrivability and safe use, are better candidates for rehabilitation robots compared to industrial robots. In recent years, wearable robots have received considerable attention and several instances such as exoskeletons, orthotics, and prosthetics have been proposed by researchers. However, there are certain challenges from the design and control perspective of wearable robots, which limit their wider implementation. Bio-inspired or biological design, kinematic compliance and holistic design optimization are the chief design issues, whereas, suitable actuation, development of appropriate physical and cognitive human-robot interaction are the essential control related concerns. Most of the skeletal joints in the human body are actuated by parallel action of a group of muscles and hence a bio-inspired wearable robot design is likely to be based on parallel mechanisms. Impending research issues associated with the use of parallel mechanism are small workspace, abundance of singularities and unavailability of forward kinematics solution. Ambulatory requirement of the wearable robots also calls for compact, light weight, and energy proficient technologies for actuators, sensors, and controllers. This thesis explores the wide-ranging potential of wearable robots in rehabilitation in the pretext of a wearable ankle rehabilitation robot. In this research, a parallel mechanism based wearable robot for ankle rehabilitation was developed to study design and control related aspects of wearable robots in general. Arrangement of actuators, in the kinematically compliant design, had been carefully selected to allow natural foot-ankle motions while keeping the ankle joint position stationary. A fuzzy based computational model was developed in this research to provide a unique solution for the forward kinematics of parallel robots. The proposed method is accurate and time efficient compared to previous methods proposed in the literature. The fast computation of forward kinematics has facilitated its online use in the controller replacing use of heavy inclinometers. A complete design analysis had been carried out by mathematically formulating important performance indices affecting robot performance in three major aspects such as, kinematic, actuation and structural aspects. Initially, a single objective optimisation approach was adopted following past practice, wherein a performance index called global condition number was optimized. Analysis of the results shows that some of the objectives were of conflicting nature and hence the single objective approach could not optimize all the performance criteria simultaneously. Subsequently, robot design optimization was carried out using existing multiobjective optimization methods, namely, preference based optimization and the evolutionary algorithm (EA) based optimization. Interestingly, these existing optimization methods were also found to be unsuccessful due to the incompatible and contradictory nature of objectives, their large number and continuous solution space. Further investigation in the EA methodology revealed fundamental shortcomings in the existing NSGA II approach. As a result of subsequent research efforts, a major breakthrough was achieved through the development of a fuzzy dominance based evolutionary optimization method to address the inadequacies of existing EA approach. Finally, the robot design optimization was carried out using newly developed fuzzy sorting genetic algorithm (FSGA) and the wearable robot was constructed using the optimized design. To improve the compliance of the wearable robot, light weight yet powerful actuators called Pneumatic muscle actuators (PMA) were used which exhibit skeletal muscle like behaviour. Construction of a dynamic model of the PMA was a difficult task owing to their non-linear and time dependent behaviour. Therefore, a Mamdani based fuzzy model was developed and optimized to accurately predict the PMA behaviour in the presence of an external force. The forward kinematics model of the robot and the dynamic model of PMA were finally incorporated in an overall fuzzy controller designed for the position control of the wearable robot. Apart from the conceptualization of a wearable ankle robot design, optimization of two variants of fuzzy inference systems namely, Takagi-Sugeno fuzzy system and Mamdani fuzzy system as well as their distinctive uses in this thesis are important contributions of the present research. The major contribution of this research lies in the development of a fuzzy dominance based evolutionary optimization method which is a strong alternate to the predominantly used evolutionary algorithm NSGA II, which has been used in diverse optimization applications over the last two decades.

Download or read book Human Robot Interaction Strategies for Walker Assisted Locomotion written by Carlos A. Cifuentes and published by Springer. This book was released on 2016-06-04 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.

Download or read book Human in the loop System Design and Control Adaptation for Behavior Assistant Robots written by Yuquan Leng and published by Frontiers Media SA. This book was released on 2024-06-03 with total page 134 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the progress and development of human-robot systems, the coordination among humans, robots, and environments has become increasingly sophisticated. In this Research Topic, we focus on an important field in robotics and automation disciplines, which is commonly defined as behavior-assistant robots. The scope includes but is not limited to: (1) rehabilitation assistive devices, such as rigid/soft exoskeletons, prosthetic systems, orthoses, and intelligent wheelchairs; (2) intelligent medical systems, such as endoscopic robots, surgical robots, and the navigation systems; (3) industrial application devices, such as collaborative manipulators, load-bearing exoskeletons, supernumerary robotic limbs; (4) intelligent domestic devices, such as mobile robots, elderly-care robots, walking-aids robots and so on. The emergence of robot-assisted daily behaviors, based on aforementioned devices, is gradually becoming part of our social lives, which can improve weak motor abilities, enhance physical functionalities, and enable various other benefits.

Download or read book Model based Control of Upper Extremity Human robot Rehabilitation Systems written by Borna Ghannadi and published by . This book was released on 2017 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: Stroke rehabilitation technologies have focused on reducing treatment cost while improving effectiveness. Rehabilitation robots are generally developed for home and clinical usage to: 1) deliver repetitive and stimulating practice to post-stroke patients, 2) minimize therapist interventions, and 3) increase the number of patients per therapist, thereby decreasing the associated cost. The control of rehabilitation robots is often limited to black- or gray-box approaches; thus, safety issues regarding the human-robot interaction are not easily considered. Furthermore, despite numerous studies of control strategies for rehabilitation, there are very few rehabilitation robots in which the tasks are implemented using optimal control theory. Optimal controllers using physics-based models have the potential to overcome these issues. This thesis presents advanced impedance- and model-based controllers for an end-effector-based upper extremity stroke rehabilitation robot. The final goal is to implement a biomechanically-plausible real-time nonlinear model predictive control for the studied rehabilitation system. The real-time term indicates that the controller computations finish within the sampling frequency time. This control structure, along with advanced impedance-based controllers, can be applied to any human-environment interactions. This makes them promising tools for different types of assistive devices, exoskeletons, active prostheses and orthoses, and exercise equipment. In this thesis, a high-fidelity biomechatronic model of the human-robot interaction is developed. The rehabilitation robot is a 2 degree-of-freedom parallelogram linkage with joint friction and backlash, and nonlinear dynamics. The mechatronic model of the robot with relatively accurate identified dynamic parameters is used in the human-robot interaction plant. Different musculoskeletal upper extremity, biomechanic, models are used to model human body motions while interacting with the rehabilitation robot model. Human-robot interaction models are recruited for model-in-loop simulations, thereby tuning the developed controllers in a structured resolution. The interaction models are optimized for real-time simulations. Thus, they are also used within the model-based control structures to provide biofeedback during a rehabilitation therapy. In robotic rehabilitation, because of physical interaction of the patient with a mechanical device, safety is a fundamental element in the design of a controller. Thus, impedance-based assistance is commonly used for robotic rehabilitation. One of our objectives is to achieve a reliable and real-time implementable controller. In our definition, a reliable controller is capable of handling variable exercises and admittance interactions. The controller should reduce therapist intervention and improve the quality of the rehabilitation. Hence, we develop advanced impedance-based assistance controllers for the rehabilitation robot. Overall, two types of impedance-based (i.e., hybrid force-impedance and optimal impedance) controllers are developed and tuned using model-in-loop simulations. Their performances are assessed using simulations and/or experiments. Furthermore, their drawbacks are discussed and possible methods for their improvements are proposed. In contrast to black/gray-box controllers, a physics-based model can leverage the inherent dynamics of the system and facilitate implementation of special control techniques, which can optimize a specific performance criterion while meeting stringent system constraints. Thus, we present model-based controllers for the upper extremity rehabilitation robot using our developed musculoskeletal models. Two types of model-based controllers (i.e., nonlinear model predictive control using external 3-dimensional musculoskeletal model or internal 2-dimensional musculoskeletal model) are proposed. Their performances are evaluated in simulations and/or experiments. The biomechanically-plausible nonlinear model predictive control using internal 2-dimensional musculoskeletal model predicts muscular activities of the human subject and provides optimal assistance in real-time experiments, thereby conforming to our final goal for this project.

Download or read book Integrated Multi modal and Sensorimotor Coordination for Enhanced Human Robot Interaction written by Bin Fang and published by Frontiers Media SA. This book was released on 2021-06-08 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Ergonomics In Design written by Francisco Rebelo and Zihao Wang and published by AHFE International. This book was released on 2023-07-19 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings of the 14th International Conference on Applied Human Factors and Ergonomics (AHFE 2023), July 20–24, 2023, San Francisco, USA

Download or read book Bio inspired Design and Non linear Model Predictive Control of a Self aligning Gait Rehabilitation Robot written by Yinan Jin and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of robot-assisted rehabilitation has seen significant development in recent years. With the development of compliant robots that can be safely used in proximity to people, the use of robots to assist rehabilitation has increased rapidly. The need for gait rehabilitation robots arises from the increasing number of people who are affected by conditions that impair their ability to walk. These conditions can include neurological disorders such as strokes, spinal cord injuries, and traumatic brain injuries. In traditional gait rehabilitation, patients receive manual therapy from a team of physical therapists. While manual therapy can be effective, it can also be time-consuming and resource-intensive, and therapists may not be able to provide consistent and precise support to patients. Gait rehabilitation robots, on the other hand, provide a consistent and precise form of therapy that may help patients make faster and more significant progress. Gait rehabilitation robots can also help reduce the physical demands on therapists and improve the efficiency of therapy sessions. This can allow more patients to receive therapy, which can improve access to care and reduce the burden on health care systems. However, most of existing robotic orthoses have not applied appropriate self-aligning mechanism, gravity-balancing mechanism, or compliant actuators. These limitations should be considered in this proposed research. This thesis proposes a novel intrinsically compliant gait rehabilitation robot with multiple actuated degrees-of-freedom (DOFs). The robot design is flexible and can be personalised with the use of telescopic pelvis, thigh, and shank sections. This newly designed rehabilitation robotic orthosis has multiple actuated and passive DOFs. Because of the importance of alignment between the designed rehabilitation robot joints and human anatomical joints, the robot design has a self-aligning mechanism. A novel gear-couple mechanism, toothed cam-couple mechanism and four-bar linkage mechanism are designed and applied to the hip, knee, and ankle joints to align the robot joints with anatomical joints during gait rehabilitation. Simulation-based and motion capture system-based tests are applied to those three mechanisms to evaluate and choose the most effective self-aligning mechanism. The gear-couple mechanism is finally chosen to be applied to the prototype design. A partial gravity-balancing mechanism is also applied to the designed rehabilitation robot. Gravity-balancing can help overcome the inertia of the rehabilitation robot and can further help reduce joint misalignment. The compliance in the robot is intrinsic due to the use of pneumatic muscle actuators (PMAs). The PMAs have been carefully selected to provide the required torques at the hip, knee and ankle joints during gait rehabilitation. Mechanical amplification of the actuation from the PMAs has been achieved by using gear-couples to replace the usual revolute robot joints. However, with the increase in flexibility of the designed prototype and application of PMAs, which are nonlinear actuators, it is challenging to design the robot control system. This challenge was overcome by developing a system dynamic identification model based on the Koopman operator for the design of a nonlinear model predictive controller (NMPC). The new robot design, together with its self-aligning and gravity-balancing mechanisms, is discussed in detail in this thesis. Compliant actuation and its amplification are explained and various algorithms that are designed and implemented on the robot system as robot firmware are explained. A NMPC is designed and developed to control the rehabilitation robot. The experimental setup and evaluation of the robot design, together with the nonlinear model predictive controller, was carried out with healthy users and yielded the intended results. The robotic orthosis along with the NMPC could successfully guide the healthy human subject along the pre-defined trajectory.

Download or read book Soft Robotics in Rehabilitation written by Amir Jafari and published by Academic Press. This book was released on 2021-02-20 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft Robotics in Rehabilitation explores the specific branch of robotics dealing with developing robots from compliant and flexible materials. Unlike robots built from rigid materials, soft robots behave the way in which living organs move and adapt to their surroundings and allow for increased flexibility and adaptability for the user. This book is a comprehensive reference discussing the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs. The book examines various techniques applied in soft robotics, including the development of soft actuators, rigid actuators with soft behavior, intrinsically soft actuators, and soft sensors. This book is perfect for graduate students, researchers, and professional engineers in robotics, control, mechanical, and electrical engineering who are interested in soft robotics, artificial intelligence, rehabilitation therapy, and medical and rehabilitation device design and manufacturing. Outlines the application of soft robotic techniques to design platforms that provide rehabilitation therapy for disabled persons to help improve their motor functions Discusses the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs Offers readers the ability to find soft robotics devices, methods, and results for any limb, and then compare the results with other options provided in the book

Download or read book Advances in Rehabilitation Robotics written by Z. Zenn Bien and published by Springer Science & Business. This book was released on 2004-06-24 with total page 480 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neurorehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics and can be used as a reference for teaching on mechatronic devices for rehabilitation.

Download or read book Biologically Inspired Control of Humanoid Robot Arms written by Adam Spiers and published by Springer. This book was released on 2016-05-19 with total page 286 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniques investigated in this book. The method includes attractive features such as the decoupling of motion into task and posture components. Various developments are made in each of these elements. Simple cost functions inspired by biomechanical “effort” and “discomfort” generate realistic posture motion. Sliding-mode techniques overcome robustness shortcomings for practical implementation. Arm compliance is achieved via a method of model-free adaptive control that also deals with actuator saturation via anti-windup compensation. A neural-network-centered learning-by-observation scheme generates new task motions, based on motion-capture data recorded from human volunteers. In other parts of the book, motion capture is used to test theories of human movement. All developed controllers are applied to the reaching motion of a humanoid robot arm and are demonstrated to be practically realisable. This book is designed to be of interest to those wishing to achieve dynamics-based human-like robot-arm motion in academic research, advanced study or certain industrial environments. The book provides motivations, extensive reviews, research results and detailed explanations. It is not only suited to practising control engineers, but also applicable for general roboticists who wish to develop control systems expertise in this area.

Download or read book Human in the loop Learning and Control for Robot Teleoperation written by Chenguang Yang and published by Elsevier. This book was released on 2023-04-06 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human-in-the-loop Learning and Control for Robot Teleoperation presents recent, research progress on teleoperation and robots, including human-robot interaction, learning and control for teleoperation with many extensions on intelligent learning techniques. The book integrates cutting-edge research on learning and control algorithms of robot teleoperation, neural motor learning control, wave variable enhancement, EMG-based teleoperation control, and other key aspects related to robot technology, presenting implementation tactics, adequate application examples and illustrative interpretations. Robots have been used in various industrial processes to reduce labor costs and improve work efficiency. However, most robots are only designed to work on repetitive and fixed tasks, leaving a gap with the human desired manufacturing effect. Introduces research progress and technical contributions on teleoperation robots, including intelligent human-robot interactions and learning and control algorithms for teleoperation Presents control strategies and learning algorithms to a teleoperation framework to enhance human-robot shared control, bi-directional perception and intelligence of the teleoperation system Discusses several control and learning methods, describes the working implementation and shows how these methods can be applied to a specific and practical teleoperation system

Download or read book Design and Assist as needed Control of an Intrinsically Compliant Robotic Orthosis for Gait Rehabilitation written by Shahid Hussain and published by . This book was released on 2012 with total page 176 pages. Available in PDF, EPUB and Kindle. Book excerpt: Neurologic injuries, such as stroke and spinal cord injuries (SCI), cause damage to neural systems and motor function, which results in lower limb impairment and gait disorders. Subjects with gait disorders require specific training to regain functional mobility. Traditionally, manual physical therapy is used for the gait training of neurologically impaired subjects which has limitations, such as the excessive workload and fatigue of physical therapists. The rehabilitation engineering community is working towards the development of robotic devices and control schemes that can assist during the gait training. The initial prototypes of these robotic gait training orthoses use conventional, industrial actuators that are either extremely heavy or have high endpoint impedance (stiffness). Neurologically impaired subjects often suffer from severe spasms. These stiff actuators may produce forces in response to the undesirable motions, often causing pain or discomfort to patients. The control schemes used by the initial prototypes of robotic gait training orthoses also have a limited ability to provide seamless, adaptive, and customized robotic assistance. This requires new design and control methods to be developed to increase the compliance and adaptability of these automated gait training devices. This research introduces the development of a new robotic gait training orthosis that is intrinsically compliant. Novel, assist-as-needed (AAN) control strategies are proposed to provide adaptive and customized robotic assistance to subjects with different levels of neurologic impairments. The new robotic gait training orthosis has six degrees of freedom (DOFs), which is powered by pneumatic muscle actuators (PMA). The device provides naturalistic gait pattern and safe interaction with subjects during gait training. New robust feedback control schemes are proposed to improve the trajectory tracking performance of PMAs. A dynamic model of the device and a human lower limb musculoskeletal model are established to study the dynamic interaction between the device and subjects. In order to provide adaptive, customized robot assisted gait training and to enhance the subject's voluntary participation in the gait training process, two new control schemes are proposed in this research. The first control scheme is based on the impedance control law. The impedance control law modifies the robotic assistance based on the human subject's active joint torque contributions. The levels of robot compliance can be selected by the physical therapist during the impedance control scheme according to the disability level and stage of rehabilitation of neurologically impaired subjects. The second control scheme is proposed to overcome the shortcomings of impedance control scheme and to provide seamless adaptive, AAN gait training. The adaptive, AAN gait training scheme is based on the estimation of the disability level of neurologically impaired subjects based on the kinematic error and adapts the robotic assistance accordingly. All the control schemes have been evaluated on neurologically intact subjects and the results show that these control schemes can deliver their intended effects. Rigorous clinical trials with neurologically impaired subjects are required to prove the therapeutic efficacy of the proposed robotic orthosis and the adaptive gait training schemes. The concept of intrinsically compliant robotic gait training orthosis, together with the trajectory tracking and impedance control of robotic gait training orthosis are the important contributions of this research. The algorithms and models developed in this research are applicable to the development of other robotic devices for rehabilitation and assistive purposes. The major contribution of the research lies in the development of a seamless, adaptive AAN gait training strategy. The research will help in evolving the field of compliant actuation of rehabilitation robots along with the development of new control schemes for providing seamless, adaptive AAN gait training.

Download or read book Robot Physical Interaction through the combination of Vision Tactile and Force Feedback written by Mario Prats and published by Springer. This book was released on 2012-10-05 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot manipulation is a great challenge; it encompasses versatility -adaptation to different situations-, autonomy -independent robot operation-, and dependability -for success under modeling or sensing errors. A complete manipulation task involves, first, a suitable grasp or contact configuration, and the subsequent motion required by the task. This monograph presents a unified framework by introducing task-related aspects into the knowledge-based grasp concept, leading to task-oriented grasps. Similarly, grasp-related issues are also considered during the execution of a task, leading to grasp-oriented tasks which is called framework for physical interaction (FPI). The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. A further focus is on sensor-based dependable execution combining three different types of sensors: force, vision and tactile. The FPI approach allows to perform a wide range of robot manipulation tasks. All contributions are validated with several experiments using different real robots placed on household environments; for instance, a high-DoF humanoid robot can successfully operate unmodeled mechanisms with widely varying structure in a general way with natural motions. This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention.

Download or read book Robotic Assistive Technologies written by Pedro Encarnação and published by CRC Press. This book was released on 2017-02-03 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains a comprehensive overview of all current uses of robots in rehabilitation. The underlying principles in each application are provided. This is followed by a critical review of the technology available, of the utilization protocols, and of user studies, outcomes, and clinical evidence, if existing. Ethical and social implications of robot use are also discussed. The reader will have an in depth view of rehabilitation robots, from principles to practice.

Download or read book Advances in Mechatronics and Biomechanics towards Efficient Robot Actuation written by Jörn Malzahn and published by Frontiers Media SA. This book was released on 2019-06-28 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: