Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
dc.contributor.author | Uğurlu, Regaip Barkan | |
dc.contributor.author | Nishimura, M. | |
dc.contributor.author | Hyodo, K. | |
dc.contributor.author | Kawanishi, M. | |
dc.contributor.author | Narikiyo, T. | |
dc.date.accessioned | 2015-12-15T13:30:57Z | |
dc.date.available | 2015-12-15T13:30:57Z | |
dc.date.issued | 2015-02 | |
dc.identifier.issn | 2168-2291 | |
dc.identifier.uri | https://ieeexplore.ieee.org/document/6949142 | |
dc.identifier.uri | http://hdl.handle.net/10679/1307 | |
dc.description.abstract | 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. | en_US |
dc.description.sponsorship | Ministry of Education, Culture, Sports, Science and Technology, Japan | |
dc.language.iso | eng | en_US |
dc.publisher | IEEE | en_US |
dc.relation.ispartof | Human-Machine Systems, IEEE Transactions on | |
dc.rights | openAccess | |
dc.title | Proof of concept for robot-aided upper limb rehabilitation using disturbance observers | en_US |
dc.type | Article | en_US |
dc.description.version | post-print | |
dc.peerreviewed | yes | en_US |
dc.publicationstatus | published | en_US |
dc.contributor.department | Özyeğin University | |
dc.contributor.authorID | (ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan | |
dc.contributor.ozuauthor | Uğurlu, Regaip Barkan | |
dc.identifier.volume | 45 | |
dc.identifier.issue | 1 | |
dc.identifier.startpage | 110 | |
dc.identifier.endpage | 118 | |
dc.identifier.wos | WOS:000348072800010 | |
dc.identifier.doi | 10.1109/THMS.2014.2362816 | |
dc.subject.keywords | Disturbance observer (DOB) | en_US |
dc.subject.keywords | Exoskeleton | en_US |
dc.subject.keywords | Power assistance | en_US |
dc.subject.keywords | Robot-aided rehabilitation | en_US |
dc.subject.keywords | User torque estimation | en_US |
dc.identifier.scopus | SCOPUS:2-s2.0-84921351558 | |
dc.contributor.authorMale | 1 |
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