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

fYear

2014

fDate

12-15 Aug. 2014

Firstpage

819

Lastpage

824

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on

Conference_Location

Sao Paulo

ISSN

2155-1774

Print_ISBN

978-1-4799-3126-2

Type

conf

DOI

10.1109/BIOROB.2014.6913880

Filename

6913880