Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrate...
| Main Authors: | , , , , , |
|---|---|
| Format: | Proceeding Paper |
| Language: | English English |
| Published: |
IOP Publishing
2018
|
| Subjects: | |
| Online Access: | http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf |
| _version_ | 1848786020007411712 |
|---|---|
| author | Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat |
| author_facet | Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat |
| author_sort | Mohd Khairuddin, Ismail |
| building | IIUM Repository |
| collection | Online Access |
| description | Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paperpresents an assistive control strategy based on impedance controltechnique. Dynamic modellingofupper arm is obtainedby utilisingthe Euler-Lagrange formulation. The proportional-derivative (PD),computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller onacceleration-based impedance model.The resultsshow that impedance controller is more suitable as it allows the cooperative effort of the patient. |
| first_indexed | 2025-11-14T17:02:23Z |
| format | Proceeding Paper |
| id | iium-63358 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-14T17:02:23Z |
| publishDate | 2018 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | iium-633582019-01-10T04:49:34Z http://irep.iium.edu.my/63358/ Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat T Technology (General) Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paperpresents an assistive control strategy based on impedance controltechnique. Dynamic modellingofupper arm is obtainedby utilisingthe Euler-Lagrange formulation. The proportional-derivative (PD),computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller onacceleration-based impedance model.The resultsshow that impedance controller is more suitable as it allows the cooperative effort of the patient. IOP Publishing 2018-04-06 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf Mohd Khairuddin, Ismail and Sidek, Shahrul Na'im and Md. Yusof, Hazlina and Abdul Majeed, A.P.P. and Puzi, A Ahmad and Rosly, H Mat (2018) Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture. In: International Conference on Innovative Technology, Engineering and Sciences 2018 (iCITES 2018), 1-2 March 2018, Pahang, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012049/pdf 10.1088/1757-899X/342/1/012049 |
| spellingShingle | T Technology (General) Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title | Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title_full | Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title_fullStr | Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title_full_unstemmed | Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title_short | Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture |
| title_sort | assistive-as-needed strategy for upper-limb robotic systems: a preliminary evaluation of the impedance control architecture |
| topic | T Technology (General) |
| url | http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf |