Integrated Control Method for Power-Assisted Rehabilitation: Ellipsoid Regression and Impedance Control
- Integrated Control Method for Power-Assisted Rehabilitation: Ellipsoid Regression and Impedance Control
- 이재민; 김민규; 오상록; 김기훈
- Issue Date
- IROS (IEEE/RSJ International Conference on
Intelligent Robots and Systems)
- , 2101-2106
- This paper proposes an integrated control method including learning with an ellipsoid function and impedance controller for rehabilitation using power-assisted robotic devices. The proposed controller consists of two parts of a primary algorithm, which are ellipsoid regression method for
re-designing trajectory and impedance controller with pseudo mass/inertia. The ellipsoid regression method generates reference impedance profiles though acquiring motion and force
trajectories during rehabilitation tasks assisted by therapists. The assisted force is controlled by impedance controller during execution of rehabilitation task using a concept of pseudo
mass/inertia. The proposed method offers the power-assisted rehabilitation as guided by therapist, without consistent help from the therapist or other assisters. The proposed control
method is validated by experiments throughout a 2-DOF rehabilitation robot, KULEX-2DOF(KIST Upper Limb Exoskeleton - 2DOF).
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- KIST Publication > Conference Paper
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