Human voluntary activity integration in the control of a standing-up rehabilitation robot: a simulation study |
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Authors: | Kamnik Roman Bajd Tadej |
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Affiliation: | University of Ljubljana, Faculty of Electrical Engineering, Trzaska 25, 1001 Ljubljana, Slovenia. roman.kamnik@robo.fe.uni-lj.si |
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Abstract: | The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of "patient-driven" robot-assisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject's initiative is demonstrated. |
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