Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device
Identifieur interne : 001D85 ( Main/Exploration ); précédent : 001D84; suivant : 001D86Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device
Auteurs : Ali Utku Pehlivan ; Fabrizio Sergi ; Marcia K. O AlleySource :
- IEEE ... International Conference on Rehabilitation Robotics : [proceedings] [ 1945-7898 ] ; 2013.
Abstract
Robotic rehabilitation is an effective platform for sensorimotor training after neurological injuries. In this paper, an adaptive controller is developed and implemented for the RiceWrist, a serial-in-parallel robot mechanism for upper extremity robotic rehabilitation. The model-based adaptive controller implementation requires a closed form dynamic model, valid for a restricted domain of generalized coordinates. We have used an existing method to define this domain and verify that the domain is widely within the range of admissible tasks required for the considered application (movements-based wrist and forearm rehabilitation). Simulation and experimental results that compare the performance of the adaptive controller to a proportional- derivative controller show that the trajectory tracking performance of the adaptive controller is better compared to the performance of a PD controller using the same values of feed-back gains. Further, comparable absolute error performance is obtained with the adaptive controller for feedback gains nearly one third that required for the PD controller. With the lower gains used in the adaptive controller, good tracking performance is achieved with a more compliant controller that will allow the subject to indicate their ability to independently initiate and maintain movement during a rehabilitation session.
Url:
DOI: 10.1109/ICORR.2013.6650412
PubMed: 24187231
PubMed Central: 3818251
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Pmc, to step Corpus: 001783
- to stream Pmc, to step Curation: 001783
- to stream Pmc, to step Checkpoint: 001427
- to stream Ncbi, to step Merge: 002A48
- to stream Ncbi, to step Curation: 002A48
- to stream Ncbi, to step Checkpoint: 002A48
- to stream Main, to step Merge: 001E07
- to stream Main, to step Curation: 001D85
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device</title>
<author><name sortKey="Pehlivan, Ali Utku" sort="Pehlivan, Ali Utku" uniqKey="Pehlivan A" first="Ali Utku" last="Pehlivan">Ali Utku Pehlivan</name>
</author>
<author><name sortKey="Sergi, Fabrizio" sort="Sergi, Fabrizio" uniqKey="Sergi F" first="Fabrizio" last="Sergi">Fabrizio Sergi</name>
</author>
<author><name sortKey="O Alley, Marcia K" sort="O Alley, Marcia K" uniqKey="O Alley M" first="Marcia K." last="O Alley">Marcia K. O Alley</name>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">PMC</idno>
<idno type="pmid">24187231</idno>
<idno type="pmc">3818251</idno>
<idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3818251</idno>
<idno type="RBID">PMC:3818251</idno>
<idno type="doi">10.1109/ICORR.2013.6650412</idno>
<date when="2013">2013</date>
<idno type="wicri:Area/Pmc/Corpus">001783</idno>
<idno type="wicri:Area/Pmc/Curation">001783</idno>
<idno type="wicri:Area/Pmc/Checkpoint">001427</idno>
<idno type="wicri:Area/Ncbi/Merge">002A48</idno>
<idno type="wicri:Area/Ncbi/Curation">002A48</idno>
<idno type="wicri:Area/Ncbi/Checkpoint">002A48</idno>
<idno type="wicri:doubleKey">1945-7898:2013:Pehlivan A:adaptive:control:of</idno>
<idno type="wicri:Area/Main/Merge">001E07</idno>
<idno type="wicri:Area/Main/Curation">001D85</idno>
<idno type="wicri:Area/Main/Exploration">001D85</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device</title>
<author><name sortKey="Pehlivan, Ali Utku" sort="Pehlivan, Ali Utku" uniqKey="Pehlivan A" first="Ali Utku" last="Pehlivan">Ali Utku Pehlivan</name>
</author>
<author><name sortKey="Sergi, Fabrizio" sort="Sergi, Fabrizio" uniqKey="Sergi F" first="Fabrizio" last="Sergi">Fabrizio Sergi</name>
</author>
<author><name sortKey="O Alley, Marcia K" sort="O Alley, Marcia K" uniqKey="O Alley M" first="Marcia K." last="O Alley">Marcia K. O Alley</name>
</author>
</analytic>
<series><title level="j">IEEE ... International Conference on Rehabilitation Robotics : [proceedings]</title>
<idno type="ISSN">1945-7898</idno>
<idno type="eISSN">1945-7901</idno>
<imprint><date when="2013">2013</date>
</imprint>
</series>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass></textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en"><p id="P1">Robotic rehabilitation is an effective platform for sensorimotor training after neurological injuries. In this paper, an adaptive controller is developed and implemented for the RiceWrist, a serial-in-parallel robot mechanism for upper extremity robotic rehabilitation. The model-based adaptive controller implementation requires a closed form dynamic model, valid for a restricted domain of generalized coordinates. We have used an existing method to define this domain and verify that the domain is widely within the range of admissible tasks required for the considered application (movements-based wrist and forearm rehabilitation). Simulation and experimental results that compare the performance of the adaptive controller to a proportional- derivative controller show that the trajectory tracking performance of the adaptive controller is better compared to the performance of a PD controller using the same values of feed-back gains. Further, comparable absolute error performance is obtained with the adaptive controller for feedback gains nearly one third that required for the PD controller. With the lower gains used in the adaptive controller, good tracking performance is achieved with a more compliant controller that will allow the subject to indicate their ability to independently initiate and maintain movement during a rehabilitation session.</p>
</div>
</front>
</TEI>
<affiliations><list></list>
<tree><noCountry><name sortKey="O Alley, Marcia K" sort="O Alley, Marcia K" uniqKey="O Alley M" first="Marcia K." last="O Alley">Marcia K. O Alley</name>
<name sortKey="Pehlivan, Ali Utku" sort="Pehlivan, Ali Utku" uniqKey="Pehlivan A" first="Ali Utku" last="Pehlivan">Ali Utku Pehlivan</name>
<name sortKey="Sergi, Fabrizio" sort="Sergi, Fabrizio" uniqKey="Sergi F" first="Fabrizio" last="Sergi">Fabrizio Sergi</name>
</noCountry>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001D85 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001D85 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Exploration |type= RBID |clé= PMC:3818251 |texte= Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device }}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/Main/Exploration/RBID.i -Sk "pubmed:24187231" \ | HfdSelect -Kh $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd \ | NlmPubMed2Wicri -a HapticV1
![]() | This area was generated with Dilib version V0.6.23. | ![]() |