Title :
A rehabilitation robot with force-position hybrid fuzzy controller: hybrid fuzzy control of rehabilitation robot
Author :
Ju, Ming-Shaung ; Lin, Chou-Ching K. ; Dong-Huang Lin ; Hwang, Ing-Shiou ; Chen, Shu-Min
Author_Institution :
Dept. of Mech. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
The goal of this study was to design a robot system for assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The robot should be able to guide patient´s wrist to move along planned linear or circular trajectories. A hybrid position/force controller incorporating fuzzy logic was developed to constrain the movement in the desired direction and to maintain a constant force along the moving direction. The controller was stable in the application range of movements and forces. Offline analyses of data were used to quantitatively assess the progress of rehabilitation. The results show that the robot could guide the upper limbs of subjects in linear and circular movements under predefined external force levels and apply a desired force along the tangential direction of the movements.
Keywords :
biomechanics; force control; fuzzy control; fuzzy logic; handicapped aids; medical robotics; patient rehabilitation; position control; circular movements; facilitation movements; force-position hybrid fuzzy controller; fuzzy logic; linear movements; neuromuscular disorders; patient rehabilitation; rehabilitation robot; upper limbs; Elbow; Force control; Fuzzy control; Hospitals; Impedance; Medical treatment; Motion control; Rehabilitation robotics; Robot control; Torque control; Fuzzy control; hybrid position/force control; rehabilitation robot; Computer-Aided Design; Equipment Design; Equipment Failure Analysis; Feedback; Fuzzy Logic; Humans; Movement Disorders; Robotics; Stress, Mechanical; Therapy, Computer-Assisted;
Journal_Title :
Neural Systems and Rehabilitation Engineering, IEEE Transactions on
DOI :
10.1109/TNSRE.2005.847354