A hybrid automata framework for an adaptive impedance control of a robot-assisted training system
There is an increasing demand for an effective and adaptive robot-assisted training system for traumatic brain injury patients which can considerably promote their sensorimotor control performance, apart from ensuring the safety of the patients. This study focuses on the impedance control framework...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Springer Singapore
2020
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| Online Access: | http://umpir.ump.edu.my/id/eprint/27792/ http://umpir.ump.edu.my/id/eprint/27792/2/5.1%20A%20hybrid%20automata%20framework%20for%20an%20adaptive%20impedance%20control%20of%20a%20robot-assisted%20training%20system.pdf |
| _version_ | 1848822885518409728 |
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| author | Mohd Khairuddin, Ismail Shahrul Na’im, Sidek Anwar, P. P. Abdul Majeed Asmarani, Ahmad Puzi Hazlina, Md Yusof |
| author_facet | Mohd Khairuddin, Ismail Shahrul Na’im, Sidek Anwar, P. P. Abdul Majeed Asmarani, Ahmad Puzi Hazlina, Md Yusof |
| author_sort | Mohd Khairuddin, Ismail |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | There is an increasing demand for an effective and adaptive robot-assisted training system for traumatic brain injury patients which can considerably promote their sensorimotor control performance, apart from ensuring the safety of the patients. This study focuses on the impedance control framework to simultaneously track the position trajectory while regulating the apparent impedance of the robot. The framework is based on the hybrid automata model that is used to govern the desired trajectory deployed by the robot-assisted training in assisting rehabilitative motion. A designed experimental setup was developed to evaluate the performance of the proposed hybrid automata scheme. Preliminary simulation results demonstrated the excellent response of the proposed framework with its ability to track the desired trajectory as well as the varying patients’ arm impedance profile. |
| first_indexed | 2025-11-15T02:48:21Z |
| format | Conference or Workshop Item |
| id | ump-27792 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T02:48:21Z |
| publishDate | 2020 |
| publisher | Springer Singapore |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-277922021-01-18T04:44:07Z http://umpir.ump.edu.my/id/eprint/27792/ A hybrid automata framework for an adaptive impedance control of a robot-assisted training system Mohd Khairuddin, Ismail Shahrul Na’im, Sidek Anwar, P. P. Abdul Majeed Asmarani, Ahmad Puzi Hazlina, Md Yusof TS Manufactures There is an increasing demand for an effective and adaptive robot-assisted training system for traumatic brain injury patients which can considerably promote their sensorimotor control performance, apart from ensuring the safety of the patients. This study focuses on the impedance control framework to simultaneously track the position trajectory while regulating the apparent impedance of the robot. The framework is based on the hybrid automata model that is used to govern the desired trajectory deployed by the robot-assisted training in assisting rehabilitative motion. A designed experimental setup was developed to evaluate the performance of the proposed hybrid automata scheme. Preliminary simulation results demonstrated the excellent response of the proposed framework with its ability to track the desired trajectory as well as the varying patients’ arm impedance profile. Springer Singapore 2020 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/27792/2/5.1%20A%20hybrid%20automata%20framework%20for%20an%20adaptive%20impedance%20control%20of%20a%20robot-assisted%20training%20system.pdf Mohd Khairuddin, Ismail and Shahrul Na’im, Sidek and Anwar, P. P. Abdul Majeed and Asmarani, Ahmad Puzi and Hazlina, Md Yusof (2020) A hybrid automata framework for an adaptive impedance control of a robot-assisted training system. In: RITA 2018: Proceedings of the 6th International Conference on Robot Intelligence Technology and Applications , 16-18 December 2018 , Putrajaya, Malaysia. pp. 257-265., 113. ISBN 978-981-13-8323-6 (Published) https://doi.org/10.1007/978-981-13-8323-6_22 https://doi.org/10.1007/978-981-13-8323-6_22 |
| spellingShingle | TS Manufactures Mohd Khairuddin, Ismail Shahrul Na’im, Sidek Anwar, P. P. Abdul Majeed Asmarani, Ahmad Puzi Hazlina, Md Yusof A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title | A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title_full | A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title_fullStr | A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title_full_unstemmed | A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title_short | A hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| title_sort | hybrid automata framework for an adaptive impedance control of a robot-assisted training system |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/27792/ http://umpir.ump.edu.my/id/eprint/27792/ http://umpir.ump.edu.my/id/eprint/27792/ http://umpir.ump.edu.my/id/eprint/27792/2/5.1%20A%20hybrid%20automata%20framework%20for%20an%20adaptive%20impedance%20control%20of%20a%20robot-assisted%20training%20system.pdf |