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dc.contributor.authorUğurlu, Regaip Barkan
dc.contributor.authorNishimura, M.
dc.contributor.authorHyodo, K.
dc.contributor.authorKawanishi, M.
dc.contributor.authorNarikiyo, T.
dc.date.accessioned2015-12-15T13:30:57Z
dc.date.available2015-12-15T13:30:57Z
dc.date.issued2015-02
dc.identifier.issn2168-2291
dc.identifier.urihttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=6949142
dc.identifier.urihttp://hdl.handle.net/10679/1307
dc.description.abstractThis 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.sponsorshipMinistry of Education, Culture, Sports, Science and Technology, Japan
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.ispartofHuman-Machine Systems, IEEE Transactions on
dc.rightsopenAccess
dc.titleProof of concept for robot-aided upper limb rehabilitation using disturbance observersen_US
dc.typeArticleen_US
dc.description.versionpost-print
dc.peerreviewedyesen_US
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID(ORCID 0000-0002-9124-7441 & YÖK ID 241209) Uğurlu, Barkan
dc.contributor.ozuauthorUğurlu, Regaip Barkan
dc.identifier.volume45
dc.identifier.issue1
dc.identifier.startpage110
dc.identifier.endpage118
dc.identifier.wosWOS:000348072800010
dc.identifier.doi10.1109/THMS.2014.2362816
dc.subject.keywordsDisturbance observer (DOB)en_US
dc.subject.keywordsExoskeletonen_US
dc.subject.keywordsPower assistanceen_US
dc.subject.keywordsRobot-aided rehabilitationen_US
dc.subject.keywordsUser torque estimationen_US
dc.identifier.scopusSCOPUS:2-s2.0-84921351558
dc.contributor.authorMale1


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