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

Yıl 2015, Cilt: 3 Sayı: 1, 27 - 31, 17.01.2015

Baris Yalcin , Erhan Akdogan , Celal Tufekci

https://doi.org/10.18100/ijamec.34156

Öz

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.

Anahtar Kelimeler

Rehabilitation; Impedance Control

Original Research Paper

Öz

Kaynakça

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