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

Name: Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Author: Uğurlu, Regaip Barkan, Nishimura, M., Hyodo, K., Kawanishi, M., Narikiyo, T.

İsim	Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
Yazar	Uğurlu, Regaip Barkan, Nishimura, M., Hyodo, K., Kawanishi, M., Narikiyo, T.
Basım Tarihi:	2015-02
Basım Yeri	- IEEE
Konu	Disturbance observer (DOB), Exoskeleton, Power assistance, Robot-aided rehabilitation, User torque estimation
Tür	Süreli Yayın
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2168-2291
Kayıt Numarası	dae05d0e-fc3d-4685-a599-00df8b6400db
Lokasyon	Mechanical Engineering
Tarih	2015-02
Notlar	Ministry of Education, Culture, Sports, Science and Technology, Japan
Örnek Metin	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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Proof of concept for robot-aided upper limb rehabilitation using disturbance observers

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

Basım Tarihi 2015-02

Basım Yeri - IEEE

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

Tür Süreli Yayın

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2168-2291

Kayıt Numarası dae05d0e-fc3d-4685-a599-00df8b6400db

Lokasyon Mechanical Engineering

Tarih 2015-02

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

Örnek Metin 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