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Assistive-as-needed strategy for upper-limb robotic systems: a preliminary evaluation of the impedance control architecture

Ismail, Mohd Khairuddin and S. N., Sidek and H., Md. Yusof and Anwar, P. P. Abdul Majeed and A., Ahmad Puzi and H., Mat Rosly (2018) Assistive-as-needed strategy for upper-limb robotic systems: a preliminary evaluation of the impedance control architecture. In: International Conference on Innovative Technology, Engineering and Sciences (iCITES 2018), 1-2 March 2018 , Universiti Malaysia Pahang, Pahang, Malaysia. pp. 1-6., 342 (1). ISSN 1757-8981 (Print); 1757-899X (Online)

Assistive-as-needed strategy for upper-limb robotic systems- A preliminary evaluation of the impedance control architecture.pdf

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Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paper presents an assistive control strategy based on impedance control technique. Dynamic modelling of upper arm is obtained by utilising the Euler-Lagrange formulation. The proportional-derivative (PD), computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller on acceleration-based impedance model. The results show that impedance controller is more suitable as it allows the cooperative effort of the patient.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by SCOPUS & WOS
Uncontrolled Keywords: Controllers; Joints (anatomy); Patient rehabilitation; Patient treatment
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 11 Jun 2019 08:14
Last Modified: 11 Jun 2019 08:14
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