Upper-Extremity Rehabilitation Robot RehabRoby: Methodology, Design, Usability and Validation. (6th December 2013)

• Record Type: Journal Article
• Authors: Ozkul, Fatih; Barkana, Duygun Erol
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 12(2013)
• Publication Date: 2013-12-06
• Subjects: Robot-Assisted Rehabilitation System -- Exoskeleton Robot -- Control Architecture -- Hybrid System -- Admittance Control with Inner Robust Position Control Loop; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/57261
• Languages: English
• ISSNs: 1729-8806

Abstract

In this study, an exoskeleton type robot-assisted rehabilitation system, called RehabRoby, is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed so that RehabRoby can complete the given rehabilitation task in a desired and safe manner. A hybrid system modelling technique is used for the high-level controller. An admittance control with an inner robust position control loop is used for the low-level control of the RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system, RehabRoby. Furthermore, the usability of RehabRoby is evaluated.