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Proof of concept for robot-aided upper limb rehabilitation using disturbance observers

Title	Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Author	Uğurlu, Regaip Barkan, Nishimura, M., Hyodo, K., Kawanishi, M., Narikiyo, T.
Publication Date:	2015-02
Publication Place	- IEEE
Subject	Disturbance observer (DOB), Exoskeleton, Power assistance, Robot-aided rehabilitation, User torque estimation
Type	Periodical
Language	English
Digital	Yes
Manuscript	No
Library:	Özyeğin University
Library Asset ID	2168-2291
Record ID	dae05d0e-fc3d-4685-a599-00df8b6400db
Library Location	Mechanical Engineering
Date	2015-02
Notes	Ministry of Education, Culture, Sports, Science and Technology, Japan
Sample Text	This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus, target rehabilitation tasks are addressed by using only encoder readings. A proof-of-concept evaluation was conducted with live able-bodied participants. The patient-active rehabilitation task was realized via observer-based user torque estimation, in which resistive forces were adjusted using virtual impedance. In the patient-passive rehabilitation task, the proposed controller enabled precise joint tracking with a maximum positioning error of 0.25°. In the power assistance task, the users' muscular activities were reduced up to 85% while exercising with a 5 kg dumbbell. Therefore, the exoskeleton system was regarded as being useful for the target tasks, indicating that it has a potential to promote robot-aided therapy protocols.
DOI	10.1109/THMS.2014.2362816
Cilt	45

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Özyeğin University

Proof of concept for robot-aided upper limb rehabilitation using disturbance observers

Author Uğurlu, Regaip Barkan, Nishimura, M., Hyodo, K., Kawanishi, M., Narikiyo, T.

Publication Date 2015-02

Publication Place - IEEE

Subject Disturbance observer (DOB), Exoskeleton, Power assistance, Robot-aided rehabilitation, User torque estimation

Type Periodical

Language English

Digital Yes

Manuscript No

Library Özyeğin University

Library Asset ID 2168-2291

Record ID dae05d0e-fc3d-4685-a599-00df8b6400db

Library Location Mechanical Engineering

Date 2015-02

Notes Ministry of Education, Culture, Sports, Science and Technology, Japan

Sample Text This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus, target rehabilitation tasks are addressed by using only encoder readings. A proof-of-concept evaluation was conducted with live able-bodied participants. The patient-active rehabilitation task was realized via observer-based user torque estimation, in which resistive forces were adjusted using virtual impedance. In the patient-passive rehabilitation task, the proposed controller enabled precise joint tracking with a maximum positioning error of 0.25°. In the power assistance task, the users' muscular activities were reduced up to 85% while exercising with a 5 kg dumbbell. Therefore, the exoskeleton system was regarded as being useful for the target tasks, indicating that it has a potential to promote robot-aided therapy protocols.

DOI 10.1109/THMS.2014.2362816

Cilt 45