DocumentCode :
1985625
Title :
Assist-as-needed path control for the PASCAL rehabilitation robot
Author :
Keller, Ulrich ; Rauter, Georg ; Riener, Robert
Author_Institution :
Sensory-Motor Syst. Lab., ETH Zurich, Zurich, Switzerland
fYear :
2013
fDate :
24-26 June 2013
Firstpage :
1
Lastpage :
7
Abstract :
Adults and children with neurological disorders often require rehabilitation therapy to improve their arm motor functions. Complementary to conventional therapy, robotic therapy can be applied. Such robots should support arm movements while assisting only as much as needed to ensure an active participation of the patient. Different control strategies are known to provide arm support to the patient. The path controller is a strategy that helps the patient´s arm to stay close to a given path while allowing for temporal and spatial freedom. In this paper, an assist-as-needed path controller is presented that is implemented in the end-effector-based robot PASCAL, which was designed for children with cerebral palsy. The new control approach is a combination of an existing path controller with additional speed restrictions to support, when the arm speed is too slow, and to resist, when the speed is too fast. Furthermore, a target position gain scheduling is introduced in order to reach a target position with a predefined precision as well as an adaptable direction-dependent supportive flux that supports along the path. These path control features were preliminarily tested with a healthy adult volunteer in different conditions. The presented controller covers the range from a completely passive user, who needs full support to an actively performed movement that needs no assistance. In close future, the controller is planned to be used to enable reaching in children as well as in adults and help to increase the intensity of the rehabilitation therapy by assisting the hand movement and by provoking an active participation.
Keywords :
end effectors; medical robotics; path planning; patient rehabilitation; patient treatment; velocity control; PASCAL rehabilitation robot; active participation; adaptable direction-dependent supportive flux; arm motor functions; arm speed; assist-as-needed path control; children with cerebral palsy; control approach; end-effector-based robot; hand movement; neurological disorders; rehabilitation therapy; robotic therapy; speed restrictions; target position gain scheduling; End effectors; Force; Impedance; Pediatrics; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on
Conference_Location :
Seattle, WA
ISSN :
1945-7898
Print_ISBN :
978-1-4673-6022-7
Type :
conf
DOI :
10.1109/ICORR.2013.6650475
Filename :
6650475
Link To Document :
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