DocumentCode :
2744584
Title :
A Configuration-Space Approach to Controlling a Rehabilitation Arm Exoskeleton
Author :
Carignan, Craig ; Tang, Jonathan ; Roderick, Stephen ; Naylor, Michael
Author_Institution :
Georgetown Univ., Washington
fYear :
2007
fDate :
13-15 June 2007
Firstpage :
179
Lastpage :
187
Abstract :
A modular approach is proposed for controlling a robotic arm exoskeleton used for shoulder rehabilitation. The joints are partitioned into anthropomorphic sets based on the exercise protocol which are then commanded using separate control modules. The controllers run concurrently and can operate in either impedance or admittance mode. The approach is applied to the MGA exoskeleton, and some preliminary experimental results are given for both iso-lateral and functional training exercises.
Keywords :
medical robotics; patient rehabilitation; configuration-space approach; functional training exercise; isolateral training exercise; rehabilitation arm exoskeleton; robotic arm exoskeleton; shoulder rehabilitation; Admittance; Control systems; Exoskeletons; Force sensors; Haptic interfaces; Impedance; Kinematics; Rehabilitation robotics; Shoulder; Virtual reality;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Conference_Location :
Noordwijk
Print_ISBN :
978-1-4244-1319-5
Electronic_ISBN :
978-1-4244-1320-1
Type :
conf
DOI :
10.1109/ICORR.2007.4428425
Filename :
4428425
Link To Document :
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