Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata
There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
2014
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| Online Access: | http://irep.iium.edu.my/39794/ http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf |
| _version_ | 1848781844441464832 |
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| author | Sado, Fatai Sidek, Shahrul Na'im Md. Yusof, Hazlina |
| author_facet | Sado, Fatai Sidek, Shahrul Na'im Md. Yusof, Hazlina |
| author_sort | Sado, Fatai |
| building | IIUM Repository |
| collection | Online Access |
| description | There is a growing need for effective and adaptive
robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed in this work which uses at its core a hybrid impedance control framework to track simultaneously both desired force and position trajectory, while regulating the apparent impedance of the robot as seen by the patient to ensure robot-patient compliant motion.
To make the system adaptive to the patient recovery process, the impedance characteristic of the patient’s impaired limb is modeled as a parameter of recovery, and is estimated online using a recursive polynomial model estimator. A hybrid automata is then implemented to specify different apparent robot impedances to track the recovery process. Preliminary simulation results showed good response of the proposed framework to the changing patient’s arm impedance profile as well as good trajectory tracking of force and position in task space. |
| first_indexed | 2025-11-14T15:56:01Z |
| format | Proceeding Paper |
| id | iium-39794 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T15:56:01Z |
| publishDate | 2014 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-397942019-01-10T05:03:07Z http://irep.iium.edu.my/39794/ Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata Sado, Fatai Sidek, Shahrul Na'im Md. Yusof, Hazlina TA164 Bioengineering There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients. A 3-DOF adaptive robot-assisted rehabilitation platform is proposed in this work which uses at its core a hybrid impedance control framework to track simultaneously both desired force and position trajectory, while regulating the apparent impedance of the robot as seen by the patient to ensure robot-patient compliant motion. To make the system adaptive to the patient recovery process, the impedance characteristic of the patient’s impaired limb is modeled as a parameter of recovery, and is estimated online using a recursive polynomial model estimator. A hybrid automata is then implemented to specify different apparent robot impedances to track the recovery process. Preliminary simulation results showed good response of the proposed framework to the changing patient’s arm impedance profile as well as good trajectory tracking of force and position in task space. 2014 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf application/pdf en http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf Sado, Fatai and Sidek, Shahrul Na'im and Md. Yusof, Hazlina (2014) Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata. In: 2014 IEEE Conference on Biomedical Engineering and Sciences (IECBES 2014), 8-10 December 2014, Miri, Sarawak. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7047573 |
| spellingShingle | TA164 Bioengineering Sado, Fatai Sidek, Shahrul Na'im Md. Yusof, Hazlina Adaptive hybrid impedance control for a 3DOF upper limb rehabilitation robot using hybrid automata |
| title | Adaptive hybrid impedance control for a 3DOF upper limb
rehabilitation robot using hybrid automata |
| title_full | Adaptive hybrid impedance control for a 3DOF upper limb
rehabilitation robot using hybrid automata |
| title_fullStr | Adaptive hybrid impedance control for a 3DOF upper limb
rehabilitation robot using hybrid automata |
| title_full_unstemmed | Adaptive hybrid impedance control for a 3DOF upper limb
rehabilitation robot using hybrid automata |
| title_short | Adaptive hybrid impedance control for a 3DOF upper limb
rehabilitation robot using hybrid automata |
| title_sort | adaptive hybrid impedance control for a 3dof upper limb
rehabilitation robot using hybrid automata |
| topic | TA164 Bioengineering |
| url | http://irep.iium.edu.my/39794/ http://irep.iium.edu.my/39794/ http://irep.iium.edu.my/39794/1/Adaptive_hybrid_impedance.pdf http://irep.iium.edu.my/39794/4/39794_Adaptive%20hybrid%20impedance%20control%20for%20a%203DOF_Scopus.pdf |