Abstract
This paper proposes an assistive control scheme for rehabilitation robots. The design objective is to develop a control strategy to follow a predefined path by maximizing the active participation of impaired subjects. For this purpose, we develop an impedance controller for velocity tracking and gain the assist-as-needed property by means of modulating the target impedance. The given method neither requires a compliant robot nor needs the dynamic model of the system. The approach also provides motion timing freedom due to working in the velocity domain. The performance of the controller is evaluated through experimental tests.
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Asl, H.J., Yamashita, M., Narikiyo, T. (2019). An Assist-as-Needed Impedance Controller for Rehabilitation Robots. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_11
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DOI: https://doi.org/10.1007/978-3-030-26118-4_11
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