An Adaptive Robotic Assistance Platform for Neurorehabilitation Therapy of Upper Limb

  • José Daniel Meneses-González
  • Omar Arturo Domínguez-RamírezEmail author
  • Luis Enrique Ramos-Velasco
  • Félix Agustín Castro-Espinoza
  • Vicente Parra-Vega
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11289)


There are many human-robot physical interaction methods for physical therapy in patients of upper limbs disabilities. The use of haptic devices for this purpose is abundant, as are the different proposals for motion control in haptic guidance, as part of a clinical protocol with the patient in the loop. A conclusive result of these interaction platforms is the need to modify elements of the control strategy and the motion planning, this for each patient. In this paper, we propose a new approach to the control of human-robot physical interaction systems. To guarantee the bilateral energy flow between the robotic system and the patient under stable conditions and, without modifying the interaction platform; we propose an adaptive control structure, free of the dynamic model. The control scheme is called PID Wavenet, and identifies the dynamics using a radial basis neural network with daughter RASP1 wavelets activation function; its output is in cascaded with an infinite impulse response (IIR) filter toprune irrelevant signals and nodes as well as to recover a canonical form. Then, online adaptive of a discrete PID regulator is proposed, whose closed-loop guarantees global regulation for nonlinear dynamical plants, in our case a haptic device with the human in the loop. Effectiveness of the proposed method is verified by the real-time experiments on a Geomagic Touch haptic interface.


Human robot interaction Haptic interface Wavelet neural network control Rehabilitation robotics 


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Copyright information

© Springer Nature Switzerland AG 2018

Authors and Affiliations

  • José Daniel Meneses-González
    • 1
  • Omar Arturo Domínguez-Ramírez
    • 1
    Email author
  • Luis Enrique Ramos-Velasco
    • 2
  • Félix Agustín Castro-Espinoza
    • 1
  • Vicente Parra-Vega
    • 3
  1. 1.Research Center in Information Technologies and SystemsAutonomous University of Hidalgo State (UAEH)PachucaMexico
  2. 2.Aerospace Engineering DepartmentMetropolitan Polytechnic University of Hidalgo (UPMH)TolcayucaMexico
  3. 3.Center for Research and Advanced Studies (CINVESTAV)SaltilloMexico

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