Paper Info
Title
Integrated control method for power-assisted rehabilitation: Ellipsoid regression and impedance control
Abstract
This paper proposes an integrated control method including learning with an ellipsoid function and impedance controller for rehabilitation using power-assisted robotic devices. The proposed controller consists of two parts of a primary algorithm, which are ellipsoid regression method for re-designing trajectory and impedance controller with pseudo mass/inertia. The ellipsoid regression method generates reference impedance profiles though acquiring motion and force trajectories during rehabilitation tasks assisted by therapists. The assisted force is controlled by impedance controller during execution of rehabilitation task using a concept of pseudo mass/inertia. The proposed method offers the power-assisted rehabilitation as guided by therapist, without consistent help from the therapist or other assisters. The proposed control method is validated by experiments throughout a 2-DOF rehabilitation robot, KULEX-2DOF(KIST Upper Limb Exoskeleton - 2DOF).
Year
DOI
Venue
2014
10.1109/IROS.2014.6942844
IROS
Keywords
Field
DocType
medical robotics,trajectory redesign,kist upper limb exoskeleton-2dof,motion control,rehabilitation tasks,regression analysis,impedance profiles,impedance control,integrated control method,ellipsoid function,force control,patient rehabilitation,ellipsoid regression,trajectory control,2-dof rehabilitation robot,therapists,motion trajectories,pseudo mass-inertia,power-assisted robotic devices,force trajectories,kulex-2dof,power-assisted rehabilitation
Rehabilitation,Control theory,Ellipsoid,Computer science,Simulation,Control engineering,Impedance control,Exoskeleton,Inertia,Robot,Trajectory
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
7
4
Name
Order
Citations
PageRank
Jaemin Lee162.94
MinKyu Kim212.05
Sang-Rok Oh337360.95
Kee-Hoon Kim49031.76