Upper-Extremity Rehabilitation Robot RehabRoby: Methodology, Design, Usability and Validation Regular Paper

被引：20

作者：

Ozkul, Fatih ^{[1
]}

Barkana, Duygun Erol ^{[2
]}

机构：

[1] Figes Engn, Istanbul, Turkey

[2] Yeditepe Univ, Dept Elect & Elect Engn, Istanbul, Turkey

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷

关键词：

Robot-Assisted Rehabilitation System; Exoskeleton Robot; Control Architecture; Hybrid System; Admittance Control with Inner Robust Position Control Loop; STROKE;

D O I：

10.5772/57261

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页数：13

共 33 条

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[3]

Çakar E, 2010, TURK FIZ TIP REHAB D, V56, P1

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