verifiedOpen Access Peer-Reviewed Scientific Journal (CC BY 4.0)
Submit Manuscript|OJS Login|Register
Peer-Reviewed Academic JournalInternational Journal of Applied Methods in Electronics and Computers
ISSN: 3023-4409DOI Prefix: 10.58190/ijamec
search
person
Research ArticlesverifiedPeer-ReviewedOpen Access
Pages: 27-31

Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions

Baris YALCİN •
Erhan AKDOGAN •
Celal TUFEKCİ
Publication DateJanuary 17, 2015
Volume / IssueVol. 3, No. 1 (pp. 27-31)
DOI Identifier10.18100/ijamec.34156
subject

Abstract

This paper presents a variable impedance control method, which is used to teach a lower limb rehabilitation robot how to imitate exercise motions applied to a patient by a physiotherapist. To achieve this task, the characteristics of physiotherapist’s motion are investigated. The proposed control method is based on estimating stiffness parameter of a physiotherapist’s arm and generating impedance parameters of the robot to model the exercise motions. The effectiveness of proposed method is shown with simulation results.
Keywords:Rehabilitation; Impedance Control
format_list_numbered

References (15)

Cited Literature
  1. 1

    A. Toth, G. Fazekas, G. Arz, M. Jurak, and M. Horvath, "Passive robotic movement therapy of the spastic hemiparetic arm with REHAROB: report of the first clinical test and the follow-up system improvement," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 127-130.

  2. 2

    M. Bernhardt, M. Frey, G. Colombo, and R. Riener, "Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 536-539.

  3. 3

    K. Homma, O. Fukuda, Y. Nagata, and M. Usuba, "Study of a wire-driven leg rehabilitation system," in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, 2004, pp. 1668-1673 vol.2.

  4. 4

    H. PA, Therapeutic exercises for musculoskeletal injuries, 2009.

  5. 5

    H. I. Krebs, "An overwiev of rehabilitation robotic technologies. In: American spinal injury association

  6. 6

    symposium," 2006.

  7. 7

    D. A. Bradley, C. Acosta-Marquez, M. Hawley, S. Brownsell, P. Enderby, and S. Mawson, "Remote rehabilitation - The NeXOS project: Lessons learnt and questions raised," in Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on, 2009, pp. 956-961.

  8. 8

    S. Moughamir, N. Manamanni, J. Zaytoon, and L. Afilal, "Control law implementation for Multi-Iso: a training machine for lower limbs," in Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE, 2001, pp. 1477-1480 vol.2.

  9. 9

    N. Hogan, H. I. Krebs, J. Charnnarong, P. Srikrishna, and A. Sharon, "MIT-MANUS: a workstation for manual therapy and training. I," in Robot and Human Communication, 1992. Proceedings., IEEE International Workshop on, 1992, pp. 161-165.

  10. 10

    S. Okada, T. Sakaki, R. Hirata, Y. Okajima, S. Uchida, and Y. Tomita, "TEM: a therapeutic exercise machine for the lower extremities of spastic patients," Advanced Robotics, vol. 14, pp. 597-606, 2001/01/01 2001.

  11. 11

    E. Akdogan and M. A. Adli, "The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot," Mechatronics, vol. 21, pp. 509-522, 2011.

  12. 12

    T. Tsumugiwa, R. Yokogawa, and K. Hara, "Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task," in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, 2002, pp. 644-650 vol.1.

  13. 13

    W. Zheng, A. Peer, and M. Buss, "Fast online impedance estimation for robot control," in Mechatronics, 2009. ICM 2009. IEEE International Conference on, 2009, pp. 1-6.

  14. 14

    D. Lakatos, F. Petit, and P. van der Smagt, "Conditioning vs. excitation time for estimating impedance parameters of the human arm," in Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, 2011, pp. 636-642.

  15. 15

    E. Akdogan, "Intelligent Position and Force Control of A Robot Manipulator for Rehabilitation," Institute for Graduate Studies in Pure and Applied Sciences, Marmara University, 2007.

format_quote

How to Cite This Article

B. Y., E. A., C. T. (2015). Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Methods in Electronics and Computers, 27-31. https://doi.org/10.18100/ijamec.34156