Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/60784 |
| _version_ | 1818328484549754880 |
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| author | Cristóbal Ochoa Luna Mohammad Habibur Rahman Maarouf Saad Philippe S. Archambault Steven Bruce Ferrer |
| author_facet | Cristóbal Ochoa Luna Mohammad Habibur Rahman Maarouf Saad Philippe S. Archambault Steven Bruce Ferrer |
| author_sort | Cristóbal Ochoa Luna |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T12:32:54Z |
| format | Article |
| id | doaj.art-3c5ece32e7c049998999ab6347c06fe1 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T12:32:54Z |
| publishDate | 2015-09-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-3c5ece32e7c049998999ab6347c06fe12022-12-21T23:45:58ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142015-09-011210.5772/6078410.5772_60784Admittance-Based Upper Limb Robotic Active and Active-Assistive MovementsCristóbal Ochoa Luna0Mohammad Habibur Rahman1Maarouf Saad2Philippe S. Archambault3Steven Bruce Ferrer4 Electrical Engineering Department, École de technologie supérieure, Montreal, Canada School of Physical & Occupational Therapy, McGill University, Montreal, Quebec, Canada Electrical Engineering Department, École de technologie supérieure, Montreal, Canada Centre of Interdisciplinary Research in Rehabilitation (CRIR), Montreal, Quebec, Canada Electrical Engineering Department, École de technologie supérieure, Montreal, CanadaThis 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.https://doi.org/10.5772/60784 |
| spellingShingle | Cristóbal Ochoa Luna Mohammad Habibur Rahman Maarouf Saad Philippe S. Archambault Steven Bruce Ferrer Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements International Journal of Advanced Robotic Systems |
| title | Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements |
| title_full | Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements |
| title_fullStr | Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements |
| title_full_unstemmed | Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements |
| title_short | Admittance-Based Upper Limb Robotic Active and Active-Assistive Movements |
| title_sort | admittance based upper limb robotic active and active assistive movements |
| url | https://doi.org/10.5772/60784 |
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