Abstract
The basic formulation of the outer impedance control loop used in this research is also presented in this chapter. In this work, the basic impedance control law had been extended to yield a more advanced interaction control scheme for passive range of motion and active assistive exercises. One of these extensions involves the incorporation of an impedance parameter adjustment module in the overall interaction control scheme. This chapter explores the use of an assistance adaptation scheme to achieve the above and presents the implementation of a control module to facilitate active user participation in the rehabilitation exercises. The proposed assistance adaptation scheme is also designed to reduce the amount of resistance applied by the robot when the user is moving ahead of the reference position.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
L.J. Love, W.J. Book, Force reflecting teleoperation with adaptive impedance control. IEEE Trans. Syst. Man Cybern 34, 159–165 (2004)
S. Babaci, Y. Amirat, J. Pontnau, C. Francois, Fuzzy adaptation impedance of a 6 d.o.f parallel robot. Application to peg in hole insertion. 1996, pp. 1770–1776
T. Tsumugiwa, R. Yokogawa, and K. Hara, Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task, in International Conference on Robotics and Automation, Washington DC, 2002, pp. 644–650
H.I. Krebs, J.J. Palazzolo, L. Dipietro, M. Ferraro, J. Krol, K. Rannekleiv, B.T. Volpe, N. Hogan, Rehabilitation robotics: performance-based progressive robot-assisted therapy. Auton. Robot. 15, 7–20 (2003)
L. Marchal-Crespo, D.J. Reinkensmeyer, Review of control strategies for robotic movement training after neurologic injury. J Neuro Eng. Rehabil. 6, 20 (2009)
M. Mihelj, T. Nef, R. Riener, A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots. Adv. Robot. 21, 843–867 (2007)
E.T. Wolbrecht, V. Chan, D.J. Reinkensmeyer, J.E. Bobrow, Optimizing compliant, model-based robotic assistance to promote neurorehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 16, 286–297 (2008)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Xie, S.(. (2016). Adaptive Ankle Rehabilitation Robot Control Strategies. In: Advanced Robotics for Medical Rehabilitation. Springer Tracts in Advanced Robotics, vol 108. Springer, Cham. https://doi.org/10.1007/978-3-319-19896-5_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-19896-5_9
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-19895-8
Online ISBN: 978-3-319-19896-5
eBook Packages: EngineeringEngineering (R0)