Hybrid-Mode Impedance Control for Position/Force Tracking in Motor-System Rehabilitation. (24th June 2015)

• Record Type: Journal Article
• Authors: Kim, Youngwoo
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 6(2015)
• Publication Date: 2015-06-24
• Subjects: Robot-based motor-system rehabilitation -- simultaneous realization of motion tracking and force generation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60968
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper proposes a new robot controller for motor-system rehabilitation. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation, as predefined through a musculoskeletal model-based optimization process. We introduce control parameters of weighted control action priorities for the motion-tracking and force-generation tasks, based on the position-tracking error. With the weighted control action priorities, the robot accords higher priority to motion tracking at the robot end point when the position-tracking error is larger than a threshold value, and to force generation when the position-tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through simulations and experimental results, we show the usefulness of the proposed control method.