Adaptive Trajectory Control Based Robotic Rehabilitation Device

Anwar, T; Al-Jumaily, A

Adaptive Trajectory Control Based Robotic Rehabilitation Device

Anwar, T Al-Jumaily, A

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Publisher:: IEEE
Publication Type:: Conference
Citation:: Proceedings of the 2014 Middle East Conference on Biomedical Engineering (MECBME), 2014, pp. 269 - 272
Issue Date:: 2014-01

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Field	Value	Language
dc.contributor.author	Anwar, T
dc.contributor.author	Al-Jumaily, A
dc.date	2014-02-17
dc.date.accessioned	2015-04-10T05:55:34Z
dc.date.issued	2014-01
dc.identifier.citation	Proceedings of the 2014 Middle East Conference on Biomedical Engineering (MECBME), 2014, pp. 269 - 272
dc.identifier.isbn	978-1-4799-4799-7
dc.identifier.uri	http://hdl.handle.net/10453/35016
dc.description.abstract	One of the main objectives of a successful lower limb robotic rehabilitation device is to obtain a smooth human machine interaction in different phase of gait cycle. The new concept in robotics rehabilitation is a “cooperative patient strategy” meaning patient’s voluntary efforts are taken into account rather than imposing any predefined movements or inflexible strategies. The term cooperative is defined to include compliance of robot as it behaves soft and gentle. It only reacts to muscular effort, interactive because there is a bidirectional exchange of energy and information between robot and patient. The control of trajectory is shared by robot and patient to complete gait cycle. In this paper an effort has been made to establish a control law to tune the inertia, damping and stiffness which in turn produce the desired trajectory impedance for smooth human machine interaction. The gain margin and phase margin in bode plot of our system is positive and hence a stable system.
dc.publisher	IEEE
dc.relation.ispartof	Biomedical Engineering (MECBME), 2014 Middle East Conference on
dc.relation.ispartof	Proceedings of the 2014 Middle East Conference on Biomedical Engineering (MECBME)
dc.relation.isbasedon	10.1109/MECBME.2014.6783256
dc.rights	© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.title	Adaptive Trajectory Control Based Robotic Rehabilitation Device
dc.type	Conference
utslib.location	Piscataway, USA
dc.location.activity	Doha, Qatar
pubs.embargo.period	Not known
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems
pubs.organisational-group	/University of Technology Sydney/Strength - Health Technologies
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.declined	1970-01-01T00:00:00.0+1000
pubs.consider-herdc	true
pubs.deleted	1970-01-01T00:00:00.0+1000

Abstract:

One of the main objectives of a successful lower limb robotic rehabilitation device is to obtain a smooth human machine interaction in different phase of gait cycle. The new concept in robotics rehabilitation is a “cooperative patient strategy” meaning patient’s voluntary efforts are taken into account rather than imposing any predefined movements or inflexible strategies. The term cooperative is defined to include compliance of robot as it behaves soft and gentle. It only reacts to muscular effort, interactive because there is a bidirectional exchange of energy and information between robot and patient. The control of trajectory is shared by robot and patient to complete gait cycle. In this paper an effort has been made to establish a control law to tune the inertia, damping and stiffness which in turn produce the desired trajectory impedance for smooth human machine interaction. The gain margin and phase margin in bode plot of our system is positive and hence a stable system.

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http://hdl.handle.net/10453/35016