A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method
Identifieur interne : 004A80 ( Istex/Corpus ); précédent : 004A79; suivant : 004A81A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method
Auteurs : Jingguo Wang ; Yangmin LiSource :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2010.
Abstract
Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.
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DOI: 10.1007/978-3-642-16587-0_42
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<record><TEI wicri:istexFullTextTei="biblStruct:series"><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</title><author><name sortKey="Wang, Jingguo" sort="Wang, Jingguo" uniqKey="Wang J" first="Jingguo" last="Wang">Jingguo Wang</name><affiliation><mods:affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</mods:affiliation></affiliation></author><author><name sortKey="Li, Yangmin" sort="Li, Yangmin" uniqKey="Li Y" first="Yangmin" last="Li">Yangmin Li</name><affiliation><mods:affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: YMLi@umac.mo</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:CFB07287BE60174A0EBF041886CE225AB1AC52D3</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1007/978-3-642-16587-0_42</idno><idno type="url">https://api.istex.fr/document/CFB07287BE60174A0EBF041886CE225AB1AC52D3/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">004A80</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</title><author><name sortKey="Wang, Jingguo" sort="Wang, Jingguo" uniqKey="Wang J" first="Jingguo" last="Wang">Jingguo Wang</name><affiliation><mods:affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</mods:affiliation></affiliation></author><author><name sortKey="Li, Yangmin" sort="Li, Yangmin" uniqKey="Li Y" first="Yangmin" last="Li">Yangmin Li</name><affiliation><mods:affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</mods:affiliation></affiliation><affiliation><mods:affiliation>E-mail: YMLi@umac.mo</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2010</date></imprint><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">CFB07287BE60174A0EBF041886CE225AB1AC52D3</idno><idno type="DOI">10.1007/978-3-642-16587-0_42</idno><idno type="ChapterID">42</idno><idno type="ChapterID">Chap42</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.</div></front></TEI><istex><corpusName>springer</corpusName><author><json:item><name>Jingguo Wang</name><affiliations><json:string>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</json:string></affiliations></json:item><json:item><name>Yangmin Li</name><affiliations><json:string>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</json:string><json:string>E-mail: YMLi@umac.mo</json:string></affiliations></json:item></author><language><json:string>eng</json:string></language><abstract>Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.</abstract><qualityIndicators><score>5.636</score><pdfVersion>1.3</pdfVersion><pdfPageSize>430 x 660 pts</pdfPageSize><refBibsNative>false</refBibsNative><keywordCount>0</keywordCount><abstractCharCount>1023</abstractCharCount><pdfWordCount>3836</pdfWordCount><pdfCharCount>22011</pdfCharCount><pdfPageCount>12</pdfPageCount><abstractWordCount>150</abstractWordCount></qualityIndicators><title>A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</title><genre.original><json:string>OriginalPaper</json:string></genre.original><chapterId><json:string>42</json:string><json:string>Chap42</json:string></chapterId><genre><json:string>conference [eBooks]</json:string></genre><serie><editor><json:item><name>David Hutchison</name><affiliations><json:string>Lancaster University, Lancaster, UK</json:string></affiliations></json:item><json:item><name>Takeo Kanade</name><affiliations><json:string>Carnegie Mellon University, Pittsburgh, PA, USA</json:string></affiliations></json:item><json:item><name>Josef Kittler</name><affiliations><json:string>University of Surrey, Guildford, UK</json:string></affiliations></json:item><json:item><name>Jon M. 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type="first">Xiangyang</forename><surname>Zhu</surname></persName><email>mexyzhu@sjtu.edu.cn</email><affiliation>Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China</affiliation></editor><idno type="pISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><biblScope type="seriesId">1244</biblScope></series><idno type="istex">CFB07287BE60174A0EBF041886CE225AB1AC52D3</idno><idno type="DOI">10.1007/978-3-642-16587-0_42</idno><idno type="ChapterID">42</idno><idno type="ChapterID">Chap42</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2010</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.</p></abstract><textClass><keywords scheme="Book Subject Collection"><list><label>SUCO11645</label><item><term>Computer Science</term></item></list></keywords></textClass><textClass><keywords scheme="Book Subject Group"><list><label>I</label><label>I21017</label><label>I22021</label><label>I2203X</label><label>I22013</label><label>I18040</label><label>I13022</label><item><term>Computer Science</term></item><item><term>Artificial Intelligence (incl. 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University</OrgName><OrgAddress><City>Stanford</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgName>Weizmann Institute of Science</OrgName><OrgAddress><City>Rehovot</City><Country>Israel</Country></OrgAddress></Affiliation><Affiliation ID="Aff8"><OrgName>University of Bern</OrgName><OrgAddress><City>Bern</City><Country>Switzerland</Country></OrgAddress></Affiliation><Affiliation ID="Aff9"><OrgName>Indian Institute of Technology</OrgName><OrgAddress><City>Madras</City><Country>India</Country></OrgAddress></Affiliation><Affiliation ID="Aff10"><OrgName>University of Dortmund</OrgName><OrgAddress><City>Dortmund</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff11"><OrgName>Massachusetts Institute of Technology</OrgName><OrgAddress><State>MA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff12"><OrgName>University of California</OrgName><OrgAddress><City>Los Angeles</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff13"><OrgName>University of California</OrgName><OrgAddress><City>Berkeley</City><State>CA</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff14"><OrgName>Rice University</OrgName><OrgAddress><City>Houston</City><State>TX</State><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff15"><OrgName>Max-Planck Institute of Computer Science</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></SeriesHeader><SubSeries><SubSeriesInfo><SubSeriesID>1244</SubSeriesID><SubSeriesPrintISSN>0302-9743</SubSeriesPrintISSN><SubSeriesElectronicISSN>1611-3349</SubSeriesElectronicISSN><SubSeriesTitle Language="En">Lecture Notes in Artificial Intelligence</SubSeriesTitle></SubSeriesInfo><SubSeriesHeader><EditorGroup><Editor AffiliationIDS="Aff16"><EditorName DisplayOrder="Western"><GivenName>Randy</GivenName><FamilyName>Goebel</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff17"><EditorName DisplayOrder="Western"><GivenName>Jörg</GivenName><FamilyName>Siekmann</FamilyName></EditorName></Editor><Editor AffiliationIDS="Aff18"><EditorName DisplayOrder="Western"><GivenName>Wolfgang</GivenName><FamilyName>Wahlster</FamilyName></EditorName></Editor><Affiliation ID="Aff16"><OrgName>University of Alberta</OrgName><OrgAddress><City>Edmonton</City><Country>Canada</Country></OrgAddress></Affiliation><Affiliation ID="Aff17"><OrgName>University of Saarland</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation><Affiliation ID="Aff18"><OrgName>DFKI and University of Saarland</OrgName><OrgAddress><City>Saarbrücken</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></SubSeriesHeader></SubSeries><Book Language="En"><BookInfo BookProductType="Proceedings" ContainsESM="No" Language="En" MediaType="eBook" NumberingDepth="2" NumberingStyle="ContentOnly" OutputMedium="All" TocLevels="0"><BookID>978-3-642-16587-0</BookID><BookTitle>Intelligent Robotics and Applications</BookTitle><BookSubTitle>Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. Proceedings, Part II</BookSubTitle><BookVolumeNumber>6425</BookVolumeNumber><BookSequenceNumber>6425</BookSequenceNumber><BookDOI>10.1007/978-3-642-16587-0</BookDOI><BookTitleID>214396</BookTitleID><BookPrintISBN>978-3-642-16586-3</BookPrintISBN><BookElectronicISBN>978-3-642-16587-0</BookElectronicISBN><BookChapterCount>68</BookChapterCount><BookCopyright><CopyrightHolderName>Springer Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></BookCopyright><BookSubjectGroup><BookSubject Code="I" Type="Primary">Computer Science</BookSubject><BookSubject Code="I21017" Priority="1" Type="Secondary">Artificial Intelligence (incl. Robotics)</BookSubject><BookSubject Code="I22021" Priority="2" Type="Secondary">Image Processing and Computer Vision</BookSubject><BookSubject Code="I2203X" Priority="3" Type="Secondary">Pattern Recognition</BookSubject><BookSubject Code="I22013" Priority="4" Type="Secondary">Computer Graphics</BookSubject><BookSubject Code="I18040" Priority="5" Type="Secondary">Information Systems Applications (incl.Internet)</BookSubject><BookSubject Code="I13022" Priority="6" Type="Secondary">Computer Communication Networks</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup><BookContext><SeriesID>558</SeriesID><SubSeriesID>1244</SubSeriesID></BookContext></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff19"><EditorName DisplayOrder="Western"><GivenName>Honghai</GivenName><FamilyName>Liu</FamilyName></EditorName><Contact><Email>honghai.liu@port.ac.uk</Email></Contact></Editor><Editor AffiliationIDS="Aff20"><EditorName DisplayOrder="Western"><GivenName>Han</GivenName><FamilyName>Ding</FamilyName></EditorName><Contact><Email>hding@sjtu.edu.cn</Email></Contact></Editor><Editor AffiliationIDS="Aff20"><EditorName DisplayOrder="Western"><GivenName>Zhenhua</GivenName><FamilyName>Xiong</FamilyName></EditorName><Contact><Email>mexion@sjtu.edu.cn</Email></Contact></Editor><Editor AffiliationIDS="Aff20"><EditorName DisplayOrder="Western"><GivenName>Xiangyang</GivenName><FamilyName>Zhu</FamilyName></EditorName><Contact><Email>mexyzhu@sjtu.edu.cn</Email></Contact></Editor><Affiliation ID="Aff19"><OrgDivision>School of Creative Technologies</OrgDivision><OrgName>The University of Portsmouth</OrgName><OrgAddress><Postcode>PO1 2DJ</Postcode><City>Portsmouth</City><Country>UK</Country></OrgAddress></Affiliation><Affiliation ID="Aff20"><OrgDivision>Robotics Institute</OrgDivision><OrgName>Shanghai Jiao Tong University</OrgName><OrgAddress><Postcode>200240</Postcode><City>Shanghai</City><Country>China</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Part ID="Part5"><PartInfo TocLevels="0"><PartID>5</PartID><PartSequenceNumber>5</PartSequenceNumber><PartTitle>Biomedical and Rehabilitation Engineering, and Medical Robotics</PartTitle><PartChapterCount>9</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Intelligent Robotics and Applications</BookTitle></PartContext></PartInfo><Chapter ID="Chap42" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingDepth="2" NumberingStyle="ContentOnly" TocLevels="0"><ChapterID>42</ChapterID><ChapterDOI>10.1007/978-3-642-16587-0_42</ChapterDOI><ChapterSequenceNumber>42</ChapterSequenceNumber><ChapterTitle Language="En">A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</ChapterTitle><ChapterFirstPage>451</ChapterFirstPage><ChapterLastPage>462</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2010</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>5</PartID><BookID>978-3-642-16587-0</BookID><BookTitle>Intelligent Robotics and Applications</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff21"><AuthorName DisplayOrder="Western"><GivenName>Jingguo</GivenName><FamilyName>Wang</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff21"><AuthorName DisplayOrder="Western"><GivenName>Yangmin</GivenName><FamilyName>Li</FamilyName></AuthorName><Contact><Email>YMLi@umac.mo</Email></Contact></Author><Affiliation ID="Aff21"><OrgDivision>Department of Electromechanical Engineering</OrgDivision><OrgName>University of Macau</OrgName><OrgAddress><City>Macao SAR</City><Country>China</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method</title></titleInfo><name type="personal"><namePart type="given">Jingguo</namePart><namePart type="family">Wang</namePart><affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Yangmin</namePart><namePart type="family">Li</namePart><affiliation>Department of Electromechanical Engineering, University of Macau, Macao SAR, China</affiliation><affiliation>E-mail: YMLi@umac.mo</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="conference [eBooks]" displayLabel="OriginalPaper"></genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2010</dateIssued><copyrightDate encoding="w3cdtf">2010</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><abstract lang="en">Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.</abstract><relatedItem type="host"><titleInfo><title>Intelligent Robotics and Applications</title><subTitle>Third International Conference, ICIRA 2010, Shanghai, China, November 10-12, 2010. 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