Browsing by Author "Hyodo, K."

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    ArticlePublicationOpen Access
    Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
    (IEEE, 2015-02) Uğurlu, Regaip Barkan; Nishimura, M.; Hyodo, K.; Kawanishi, M.; Narikiyo, T.; Mechanical Engineering; UĞURLU, Regaip Barkan
    This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG and force sensors, we exploit off-the-shelf compensation techniques developed for robot manipulators. Thus, target rehabilitation tasks are addressed by using only encoder readings. A proof-of-concept evaluation was conducted with live able-bodied participants. The patient-active rehabilitation task was realized via observer-based user torque estimation, in which resistive forces were adjusted using virtual impedance. In the patient-passive rehabilitation task, the proposed controller enabled precise joint tracking with a maximum positioning error of 0.25°. In the power assistance task, the users' muscular activities were reduced up to 85% while exercising with a 5 kg dumbbell. Therefore, the exoskeleton system was regarded as being useful for the target tasks, indicating that it has a potential to promote robot-aided therapy protocols.