Title :
Development of a controllerfor a 3-DOF robotic platform for user interaction in rehabilitation therapies
Author :
Martinho Dobrianskyj, Guilherme ; Garnier Coutinho, Andre ; Hess-Coelho, Tarcisio Antonio
Author_Institution :
Dept. of Mechatron. & Mech. Syst. Eng., Polytech. Sch., Univ. of Sao Paulo, Sao Paulo, Brazil
Abstract :
This work deals with the development of a controller for a robotic platform conceived as a rehabilitation device for the human upper limb. The mechanical system is a three-degree-of-freedom parallel mechanism which is coupled to the actuators, three DC-motors and the driversthat provides the desired control signals (position, velocity and current). Regarding the control system, two techniques are utilized: the computed torque control for the motion control and the impedance control for force control. Simulations are performed in MatLab software in order to evaluate the interaction with a user.
Keywords :
force control; human-robot interaction; medical robotics; motion control; patient rehabilitation; torque control; 3-DOF robotic platform; DC-motors; MatLab software; actuators; computed torque control; control system; drivers; force control; human upper limb rehabilitation; impedance control; mechanical system; motion control; rehabilitation device; rehabilitation therapies; three-degree-of-freedom parallel mechanism; user interaction; Computational modeling; Force; Mechanical systems; Medical treatment; Robots; Torque; Trajectory; Control techniques; Parallel mechanism; Robotic platform; Upper limb rehabilitation;
Conference_Titel :
Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on
Conference_Location :
Sao Paulo
Print_ISBN :
978-1-4799-3126-2
DOI :
10.1109/BIOROB.2014.6913880
