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dc.contributor.authorMancisidor, Aitziber
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorCabanes, Itziar
dc.contributor.authorBengoa, Pablo
dc.contributor.authorJung, Je Hyung
dc.date.accessioned2017-09-19T11:46:41Z
dc.date.available2017-09-19T11:46:41Z
dc.date.issued2017-08-15
dc.identifier.citationMancisidor, Aitziber, Asier Zubizarreta, Itziar Cabanes, Pablo Bengoa, and Je Hyung Jung. “Interaction Force and Motion Estimators Facilitating Impedance Control of the Upper Limb Rehabilitation Robot.” 2017 International Conference on Rehabilitation Robotics (ICORR) (July 2017). doi:10.1109/icorr.2017.8009307.en
dc.identifier.urihttp://hdl.handle.net/11556/420
dc.description.abstractIn order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robot-mediated rehabilitation trainings.en
dc.language.isoengen
dc.publisherIEEE Xploreen
dc.titleInteraction force and motion estimators facilitating impedance control of the upper limb rehabilitation roboten
dc.typeconferenceObjecten
dc.identifier.doi10.1109/ICORR.2017.8009307en
dc.isiNoen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsRehabilitation roboten
dc.subject.keywordsEstimatorsen
dc.subject.keywordsImpedance controlen
dc.subject.keywordsUpper limben
dc.subject.keywordsMotionen
dc.subject.keywordsForceen
dc.subject.keywordsUHPen
dc.identifier.essn1945-7901en
dc.journal.title2017 International Conference on Rehabilitation Robotics (ICORR)en
dc.page.final566en
dc.page.initial561en


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