Open AccessHybrid-Mode Impedance Control for Position/Force Tracking in Motor-System Rehabilitation
Author(s) -
Youngwoo Kim
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60968
Subject(s) - computer science , trajectory , impedance control , tracking (education) , control theory (sociology) , tracking error , controller (irrigation) , position (finance) , robot , process (computing) , motion (physics) , match moving , motion control , simulation , artificial intelligence , control (management) , physics , psychology , pedagogy , finance , astronomy , agronomy , economics , biology , operating system
This paper proposes a new robot controller for motor-system rehabilitation. The proposed controller simultaneously realizes rehabilitation motion tracking and force generation, as predefined through a musculoskeletal model-based optimization process. We introduce control parameters of weighted control action priorities for the motion-tracking and force-generation tasks, based on the position-tracking error. With the weighted control action priorities, the robot accords higher priority to motion tracking at the robot end point when the position-tracking error is larger than a threshold value, and to force generation when the position-tracking error is smaller than a threshold value. Smooth motion trajectory has to be designed and applied in robot-based rehabilitation. Through simulations and experimental results, we show the usefulness of the proposed control method