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Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions

Year 2015, Volume: 3 Issue: 1, 27 - 31, 17.01.2015
https://doi.org/10.18100/ijamec.34156

Abstract

This paper presents a variable impedance control method, which is used to teach a lower limb rehabilitation robot how to imitate exercise motions applied to a patient by a physiotherapist. To achieve this task, the characteristics of physiotherapist’s motion are investigated. The proposed control method is based on estimating stiffness parameter of a physiotherapist’s arm and generating impedance parameters of the robot to model the exercise motions. The effectiveness of proposed method is shown with simulation results.

References

  • A. Toth, G. Fazekas, G. Arz, M. Jurak, and M. Horvath, "Passive robotic movement therapy of the spastic hemiparetic arm with REHAROB: report of the first clinical test and the follow-up system improvement," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 127-130.
  • M. Bernhardt, M. Frey, G. Colombo, and R. Riener, "Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 536-539.
  • K. Homma, O. Fukuda, Y. Nagata, and M. Usuba, "Study of a wire-driven leg rehabilitation system," in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, 2004, pp. 1668-1673 vol.2.
  • H. PA, Therapeutic exercises for musculoskeletal injuries, 2009.
  • H. I. Krebs, "An overwiev of rehabilitation robotic technologies. In: American spinal injury association
  • symposium," 2006.
  • D. A. Bradley, C. Acosta-Marquez, M. Hawley, S. Brownsell, P. Enderby, and S. Mawson, "Remote rehabilitation - The NeXOS project: Lessons learnt and questions raised," in Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on, 2009, pp. 956-961.
  • S. Moughamir, N. Manamanni, J. Zaytoon, and L. Afilal, "Control law implementation for Multi-Iso: a training machine for lower limbs," in Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE, 2001, pp. 1477-1480 vol.2.
  • N. Hogan, H. I. Krebs, J. Charnnarong, P. Srikrishna, and A. Sharon, "MIT-MANUS: a workstation for manual therapy and training. I," in Robot and Human Communication, 1992. Proceedings., IEEE International Workshop on, 1992, pp. 161-165.
  • S. Okada, T. Sakaki, R. Hirata, Y. Okajima, S. Uchida, and Y. Tomita, "TEM: a therapeutic exercise machine for the lower extremities of spastic patients," Advanced Robotics, vol. 14, pp. 597-606, 2001/01/01 2001.
  • E. Akdogan and M. A. Adli, "The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot," Mechatronics, vol. 21, pp. 509-522, 2011.
  • T. Tsumugiwa, R. Yokogawa, and K. Hara, "Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task," in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, 2002, pp. 644-650 vol.1.
  • W. Zheng, A. Peer, and M. Buss, "Fast online impedance estimation for robot control," in Mechatronics, 2009. ICM 2009. IEEE International Conference on, 2009, pp. 1-6.
  • D. Lakatos, F. Petit, and P. van der Smagt, "Conditioning vs. excitation time for estimating impedance parameters of the human arm," in Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, 2011, pp. 636-642.
  • E. Akdogan, "Intelligent Position and Force Control of A Robot Manipulator for Rehabilitation," Institute for Graduate Studies in Pure and Applied Sciences, Marmara University, 2007.

Original Research Paper

Year 2015, Volume: 3 Issue: 1, 27 - 31, 17.01.2015
https://doi.org/10.18100/ijamec.34156

Abstract

References

  • A. Toth, G. Fazekas, G. Arz, M. Jurak, and M. Horvath, "Passive robotic movement therapy of the spastic hemiparetic arm with REHAROB: report of the first clinical test and the follow-up system improvement," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 127-130.
  • M. Bernhardt, M. Frey, G. Colombo, and R. Riener, "Hybrid force-position control yields cooperative behaviour of the rehabilitation robot LOKOMAT," in Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on, 2005, pp. 536-539.
  • K. Homma, O. Fukuda, Y. Nagata, and M. Usuba, "Study of a wire-driven leg rehabilitation system," in Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, 2004, pp. 1668-1673 vol.2.
  • H. PA, Therapeutic exercises for musculoskeletal injuries, 2009.
  • H. I. Krebs, "An overwiev of rehabilitation robotic technologies. In: American spinal injury association
  • symposium," 2006.
  • D. A. Bradley, C. Acosta-Marquez, M. Hawley, S. Brownsell, P. Enderby, and S. Mawson, "Remote rehabilitation - The NeXOS project: Lessons learnt and questions raised," in Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on, 2009, pp. 956-961.
  • S. Moughamir, N. Manamanni, J. Zaytoon, and L. Afilal, "Control law implementation for Multi-Iso: a training machine for lower limbs," in Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE, 2001, pp. 1477-1480 vol.2.
  • N. Hogan, H. I. Krebs, J. Charnnarong, P. Srikrishna, and A. Sharon, "MIT-MANUS: a workstation for manual therapy and training. I," in Robot and Human Communication, 1992. Proceedings., IEEE International Workshop on, 1992, pp. 161-165.
  • S. Okada, T. Sakaki, R. Hirata, Y. Okajima, S. Uchida, and Y. Tomita, "TEM: a therapeutic exercise machine for the lower extremities of spastic patients," Advanced Robotics, vol. 14, pp. 597-606, 2001/01/01 2001.
  • E. Akdogan and M. A. Adli, "The design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot," Mechatronics, vol. 21, pp. 509-522, 2011.
  • T. Tsumugiwa, R. Yokogawa, and K. Hara, "Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task," in Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on, 2002, pp. 644-650 vol.1.
  • W. Zheng, A. Peer, and M. Buss, "Fast online impedance estimation for robot control," in Mechatronics, 2009. ICM 2009. IEEE International Conference on, 2009, pp. 1-6.
  • D. Lakatos, F. Petit, and P. van der Smagt, "Conditioning vs. excitation time for estimating impedance parameters of the human arm," in Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, 2011, pp. 636-642.
  • E. Akdogan, "Intelligent Position and Force Control of A Robot Manipulator for Rehabilitation," Institute for Graduate Studies in Pure and Applied Sciences, Marmara University, 2007.
There are 15 citations in total.

Details

Primary Language English
Journal Section Research Article
Authors

Baris Yalcin

Erhan Akdogan

Celal Tufekci This is me

Publication Date January 17, 2015
Published in Issue Year 2015 Volume: 3 Issue: 1

Cite

APA Yalcin, B., Akdogan, E., & Tufekci, C. (2015). Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Mathematics Electronics and Computers, 3(1), 27-31. https://doi.org/10.18100/ijamec.34156
AMA Yalcin B, Akdogan E, Tufekci C. Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Mathematics Electronics and Computers. January 2015;3(1):27-31. doi:10.18100/ijamec.34156
Chicago Yalcin, Baris, Erhan Akdogan, and Celal Tufekci. “Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions”. International Journal of Applied Mathematics Electronics and Computers 3, no. 1 (January 2015): 27-31. https://doi.org/10.18100/ijamec.34156.
EndNote Yalcin B, Akdogan E, Tufekci C (January 1, 2015) Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Mathematics Electronics and Computers 3 1 27–31.
IEEE B. Yalcin, E. Akdogan, and C. Tufekci, “Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions”, International Journal of Applied Mathematics Electronics and Computers, vol. 3, no. 1, pp. 27–31, 2015, doi: 10.18100/ijamec.34156.
ISNAD Yalcin, Baris et al. “Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions”. International Journal of Applied Mathematics Electronics and Computers 3/1 (January 2015), 27-31. https://doi.org/10.18100/ijamec.34156.
JAMA Yalcin B, Akdogan E, Tufekci C. Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Mathematics Electronics and Computers. 2015;3:27–31.
MLA Yalcin, Baris et al. “Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions”. International Journal of Applied Mathematics Electronics and Computers, vol. 3, no. 1, 2015, pp. 27-31, doi:10.18100/ijamec.34156.
Vancouver Yalcin B, Akdogan E, Tufekci C. Variable Impedance Control of a Rehabilitation Robot for Modelling Physiotherapist’s Motions. International Journal of Applied Mathematics Electronics and Computers. 2015;3(1):27-31.

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