Name
Abstract | ||
|---|---|---|
To rehabilitate individuals with upper limb impairments we have developed a wearable exoskeleton robot (ETS-MARSE), designed to be worn on the lateral side of the upper arm. In this paper, we have implemented Cartesian trajectory tracking of the ETS-MARSE. Experiments involved passive rehabilitation exercises (e.g., reaching movement) in three healthy human subjects. Cartesian trajectory tracking involving square shaped trajectories or multijoint reaching movements are widely used for passive arm movement therapy. As control strategies, a computationally inexpensive PID control and a sliding mode exponential reaching law control were used to maneuver the ETS-MARSE. Experimental results show that the ETS-MARSE can be maneuvered effectively to track the Cartesian trajectories which correspond to typical passive arm movement exercises. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IECON.2012.6389155 | Montreal, QC |
Keywords | Field | DocType |
biomechanics,bone,medical robotics,patient rehabilitation,patient treatment,robot kinematics,three-term control,tracking,variable structure systems,cartesian trajectory tracking,ets-marse,computationally inexpensive pid control,control strategies,multijoint reaching movements,passive arm movement exercises,passive arm movement therapy,passive rehabilitation exercises,reaching movement,sliding mode exponential reaching law control,square shaped trajectories,upper arm,upper limb exoskeleton robot,upper limb impairments,wearable exoskeleton robot | Upper limb,PID controller,Wearable computer,Control theory,Robot kinematics,Control engineering,Engineering,Biomechanics,Trajectory,Exoskeleton robot,Cartesian coordinate system | Conference |
ISSN | ISBN | Citations |
1553-572X E-ISBN : 978-1-4673-2420-5 | 978-1-4673-2420-5 | 3 |
PageRank | References | Authors |
0.73 | 3 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| m h rahman | 1 | 3 | 0.73 |
| m saad | 2 | 3 | 0.73 |
| c ochoaluna | 3 | 16 | 3.17 |
| j p kenne | 4 | 3 | 0.73 |
| Philippe S. Archambault | 5 | 48 | 7.78 |