Title :
A study of neuromuscular-like control in rehabilitation robot
Author :
Wu, Chi-Haur ; Chang, Shih-Lang ; Lee, D.T.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA
Abstract :
By modeling the nonlinear damping property of the biological muscle-reflex system, a neuromuscular-like controller has been proved to be capable of reflexing to any changing displacement and enhancing the compliant forces for the changing motion. The unique capability possessed by this controller presents a prominent application for designing a mechanical orthosis in aiding the limb motion of disabled people who have minimal or no voluntary control of limb muscle. To demonstrate the feasibility and effectiveness of the concept, the elbow and shoulder joints of a PUMA 560 robot were implemented with the neuromuscular-like control to emulate the limb motion
Keywords :
biocontrol; damping; handicapped aids; manipulators; motion control; muscle; neurophysiology; orthotics; physiological models; vibration control; PUMA 560 robot; biological muscle-reflex system; compliant forces; disabled people; handicapped aids; limb motion; mechanical orthosis; neuromuscular-like control; nonlinear damping; rehabilitation robot; Biological control systems; Biological system modeling; Control system synthesis; Damping; Displacement control; Force control; Motion control; Nonlinear control systems; Rehabilitation robotics; Robot control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506867
