DocumentCode :
2306239
Title :
Hybrid impedance control of a 3-DOF robotic arm used for rehabilitation treatment
Author :
Wang, Jingguo ; Li, Yangmin
Author_Institution :
Dept. of Electromech. Eng., Univ. of Macau, Macao, China
fYear :
2010
fDate :
21-24 Aug. 2010
Firstpage :
768
Lastpage :
773
Abstract :
A 3-DOF planar robotic arm is designed and used as a rehabilitation treatment tool for the survivor after suffering a stroke, aiming to assist them to recover upper-limb function. In order to strengthen the patient´s arm, some forces are desired to be followed while the position trajectories should be tracked simultaneously, therefore hybrid impedance control (HIC) is proposed. Due to the redundancy for the planar motion, besides the main task, the secondary task is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. Some typical trajectories are simulated for rehabilitation motion and a couple of simulations are made to study both the impedance control and hybrid impedance control strategies. The simulation results are compared and discussed and the tracking effectiveness of the proposed method is confirmed.
Keywords :
medical robotics; motion control; patient rehabilitation; patient treatment; position control; 3-DOF planar robotic arm; hybrid impedance control; joint limits avoidance; patient arm; planar motion; position trajectory; rehabilitation motion; rehabilitation treatment tool; stroke survivor; tracking effectiveness; upper-limb function recovery; Force; Impedance; Joints; Manipulator dynamics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering (CASE), 2010 IEEE Conference on
Conference_Location :
Toronto, ON
Print_ISBN :
978-1-4244-5447-1
Type :
conf
DOI :
10.1109/COASE.2010.5584259
Filename :
5584259
Link To Document :
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