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Admittance-based Upper Limb Robotic Active and Active-assistive Movements

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Ochoa Luna, Cristóbal, Rahman, Mohammad Habibur, Saad, Maarouf, Archambault, Philippe S. et Ferrer, Steven Bruce. 2015. « Admittance-based Upper Limb Robotic Active and Active-assistive Movements ». International Journal of Advanced Robotic Systems, vol. 12.
Compte des citations dans Scopus : 15.

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Abstract

This paper presents two rehabilitation schemes for patients with upper limb impairments. The first is an active-assistive scheme based on the trajectory tracking of predefined paths in Cartesian space. In it, the system allows for an adjustable degree of variation with respect to ideal tracking. The amount of variation is determined through an admittance function that depends on the opposition forces exerted on the system by the user, due to possible impairments. The coefficients of the function allow the adjustment of the degree of assistance the robot will provide in order to complete the target trajectory. The second scheme corresponds to active movements in a constrained space. Here, the same admittance function is applied; however, in this case, it is unattached to a predefined trajectory and instead connected to one generated in real time, according to the user’s intended movements. This allows the user to move freely with the robot in order to track a given path. The free movement is bounded through the use of virtual walls that do not allow users to exceed certain limits. A human-machine interface was developed to guide the robot’s user.

Item Type: Peer reviewed article published in a journal
Professor:
Professor
Saad, Maarouf
Affiliation: Génie électrique
Date Deposited: 29 Oct 2015 15:19
Last Modified: 08 Jun 2017 14:56
URI: http://espace2.etsmtl.ca/id/eprint/11704

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