Stiffness-based tuning of an adaptive impedance controller for robot-assisted rehabilitation of upper limbs Conference Paper uri icon

abstract

  • In this paper, the tuning procedure of an adaptive impedance control approach, for upper limb rehabilitation therapies assisted by robots, is presented. The main feature of the proposed approach is a custom tuning of the impedance parameters for the controller, based on the stiffness estimation of users (patients), thus achieving a suitable robot-assisted rehabilitation system according with the different conditions of user%27s mobility. A set of simulation results are presented, in order to verify the suitable performance of the proposed approach in human-robot interaction tasks. © 2015 IEEE.
  • In this paper, the tuning procedure of an adaptive impedance control approach, for upper limb rehabilitation therapies assisted by robots, is presented. The main feature of the proposed approach is a custom tuning of the impedance parameters for the controller, based on the stiffness estimation of users (patients), thus achieving a suitable robot-assisted rehabilitation system according with the different conditions of user's mobility. A set of simulation results are presented, in order to verify the suitable performance of the proposed approach in human-robot interaction tasks. © 2015 IEEE.

publication date

  • 2015-01-01