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Concept of Human-Robot-Interaction Control for Ortheses with Pneumatic Soft- Actuators
| Content Provider | Semantic Scholar |
|---|---|
| Author | Baiden, David Ivlev, Oleg |
| Copyright Year | 2013 |
| Abstract | This paper presents a concept for human-robot-interaction (HRI) for controlling robots with compliant pneumatic soft-actuators which are directly attached to the human body. For comfort and safety backdrivability of this type of actuators is beneficial and they are well suitable to design rehabilitation robots. As application example for training of activities of daily living (ADL) sit-to-stand tasks are used, taking conventional treatment in neurology as reference. The focus is on stroke patients with a target group suffering from hemiplegia and paralysis in one half of the body. Based on master-slave position control movements form the fit leg are transferred to the affected led using a 2 degrees of freedom (DOF) exoskeleton robot as testbed. Furthermore the wearer of the robot has the possibility to adjust support for stabilizing the knee joint manually. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://www.ige.tu-berlin.de/fileadmin/fg176/IGE_Printreihe/TAR_2013/paper/Poster-1-Baiden.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
