Stiffness-based tuning of an adaptive impedance controller for robot-assisted rehabilitation of upper limbs
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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.
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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.
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algorithm; arm; human; impedance; machine learning; pathophysiology; Psychomotor Disorders; robotics; Algorithms; Arm; Electric Impedance; Humans; Machine Learning; Psychomotor Disorders; Robotics
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