A High-Level Controller for Robot-Assisted Rehabilitation

Author

Erol, Duygun ; Sarkar, Nilanjan ; Halder, Bibhrajit

Author_Institution

Dept. of Electr. & Comput. Sci., Vanderbilt Univ., Nashville, TN

fYear

2006

fDate

Aug. 30 2006-Sept. 3 2006

Firstpage

3234

Lastpage

3237

Abstract

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller

Keywords

discrete event systems; finite automata; medical robotics; patient rehabilitation; asynchronous discrete event system; finite state automaton; high-level controller; robot-assisted rehabilitation therapy; supervisory controller; Automata; Automatic control; Control systems; Force control; Medical control systems; Medical treatment; Rehabilitation robotics; Robot control; Robot kinematics; Supervisory control; high-level controller for rehabilitation therapy; robot-assisted therapy; supervisory controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2006. EMBS '06. 28th Annual International Conference of the IEEE

Conference_Location

New York, NY

ISSN

1557-170X

Print_ISBN

1-4244-0032-5

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2006.260582

Filename

4462486