NDLI: Torque-dependent compliance control in the joint space of an operational robotic machine for motor therapy

Content Provider	IEEE Xplore Digital Library
Author	Formica, D. Zollo, L. Guglielmelli, E.
Copyright Year	2005
Description	Author affiliation: Biomed. Robotics & EMC Lab., Univ. Campus Bio-Medico, Rome, Italy (Formica, D.; Zollo, L.; Guglielmelli, E.)
Abstract	This paper is focused on the design of interaction control of robotic machines for rehabilitation motor therapy of the upper limb. The control approach tries to address requirements deriving from the application scenario and adopts a bio-inspired approach for regulating robot behavior in the interaction with the patient. The coactivation-based compliance control law in the joint space [Zollo, L, et al., 2003] is resumed and a new control law for regulating robot compliance in the free space is proposed, that is borrowed from studies on the biological mechanisms of regulation of the elastic properties of a healthy human arm. Moreover, a direct force control loop is added, in order to tune the level of force in the interaction with the patient. The control law is tested on a purposively developed simulation tool, which models the dynamics of the MIT-MANUS robot interacting with a human subject. The capability of the control system of counterbalancing incorrect movements depending on the level of pathology is finally validated.
Starting Page	341
Ending Page	344
File Size	279300
Page Count	4
File Format	PDF
ISBN	0780390032
DOI	10.1109/ICORR.2005.1501115
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biological system modeling Torque control Robot control Medical treatment Humans Rehabilitation robotics Mechanical factors Biological control systems Force control Orbital robotics
Content Type	Text
Resource Type	Article

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