A study of neuromuscular-like control in rehabilitation robot

Author

Wu, Chi-Haur ; Chang, Shih-Lang ; Lee, D.T.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL, USA

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1178

Abstract

By modeling the nonlinear damping property of the biological muscle-reflex system, a neuromuscular-like controller has been proved to be capable of reflexing to any changing displacement and enhancing the compliant forces for the changing motion. The unique capability possessed by this controller presents a prominent application for designing a mechanical orthosis in aiding the limb motion of disabled people who have minimal or no voluntary control of limb muscle. To demonstrate the feasibility and effectiveness of the concept, the elbow and shoulder joints of a PUMA 560 robot were implemented with the neuromuscular-like control to emulate the limb motion

Keywords

biocontrol; damping; handicapped aids; manipulators; motion control; muscle; neurophysiology; orthotics; physiological models; vibration control; PUMA 560 robot; biological muscle-reflex system; compliant forces; disabled people; handicapped aids; limb motion; mechanical orthosis; neuromuscular-like control; nonlinear damping; rehabilitation robot; Biological control systems; Biological system modeling; Control system synthesis; Damping; Displacement control; Force control; Motion control; Nonlinear control systems; Rehabilitation robotics; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506867

Filename

506867