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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wilkening, A. Ivlev, O. |
| Copyright Year | 2013 |
| Description | Author affiliation: FWBI Friedrich-Wilhelm-Bessel-Inst. Res. Co. &, Univ. of Bremen, Bremen, Germany (Wilkening, A.; Ivlev, O.) |
| Abstract | Assistive behavior and inherent compliance are assumed to be the essential properties for effective robot-assisted therapy in neurological as well as in orthopedic rehabilitation. This paper presents two adaptive model-based assistive controllers for pneumatic direct driven soft rehabilitation robots that are based on separated models of the soft-robot and the patient's extremity, in order to take into account the individual patient's behavior, effort and ability during control, what is assumed to be essential to relearn lost motor functions in neurological and facilitate muscle reconstruction in orthopedic rehabilitation. The high inherent compliance of soft-actuators allows for a general human-robot interaction and provides the base for effective and dependable assistive control. An inverse model of the soft-robot with estimated parameters is used to achieve robot transparency during treatment and inverse adaptive models of the individual patient's extremity allow the controllers to learn on-line the individual patient's behavior and effort and react in a way that assist the patient only as much as needed. The effectiveness of the controllers is evaluated with unimpaired subjects using a first prototype of a soft-robot for elbow training. Advantages and disadvantages of both controllers are analyzed and discussed. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 1166393 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467360227 |
| ISSN | 19457901 |
| e-ISBN | 9781467360241 |
| DOI | 10.1109/ICORR.2013.6650354 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Adaptation models Actuators Torque Inverse problems Pneumatic systems Robots Extremities |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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