A high-level controller for robot-assisted rehabilitation

被引：0

作者：

Erol, Duyguin ^{[1
]}

Sarkar, Nilanjan ^{[1
,2
]}

Halder, Bibhrajit ^{[2
]}

机构：

[1] Vanderbilt Univ, Dept Elect Engn & Comp Sci, Nashville, TN 37240 USA

[2] Vanderbilt Univ, Dept Mech Engn, Robot & Autonom Syst Lab, Nashville, TN 37240 USA

来源：

2006 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-15 | 2006年

关键词：

robot-assisted therapy; high-level; controller for rehabilitation therapy; supervisory controller;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller.

引用

页码：2792 / +

页数：2

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