A neuro-fuzzy approach to real-time trajectory generation for robotic rehabilitation

Martin, Peter; Emami, M. Reza

doi:10.1016/j.robot.2014.01.001

Cited by 13 publications

(10 citation statements)

References 17 publications

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“…All team members need the physiological function data of the disabled people [17]. So some new data processing methods have been put forward, such as neuro-fuzzy approach is very important for real-time trajectory generation for robotic rehabilitation [18], hybrid data fusion technology is used in patient evaluation for their robot-assisted passive and active lower limb rehabilitation [19]. Two-dimensional, three-dimensional even the multidimensional data are commonly, there are some new technologies put forward for designing, maintenance and processing of these data, such as cloud computing and cloud storage [20], wireless sensor networks [21], and so on.…”

Section: Resultsmentioning

confidence: 99%

No distance between disabled people and rehabilitation engineer in high-tech era

Li¹

2017

Surg Rehabil

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Traditional face to face diagnosis and treatment model has existed for thousands of years between doctors and patients. But now high technologies have brought people great convenience in many fields. When the disabled people concerned, many technologies such as internet, remote sensing, signal processing, Virtual Reality and so on, are already playing an important role in rehabilitation engineering. This paper introduces these emergency new technologies associated with the disabled people and engineers in recent years, which can eliminate the psychological and space distance between disabled people and rehabilitation engineer in high-tech era.

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Section: Resultsmentioning

confidence: 99%

No distance between disabled people and rehabilitation engineer in high-tech era

Li¹

2017

Surg Rehabil

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“…A portable powered AFO has also been proposed for providing assistance to plantar/dorsiflexion movements (46). The portable orthosis utilizes a bidirectional pneumatic rotary actuator for providing plantar and dorsi-flexion movements.…”

Section: Miscellaneous Ankle Orthosesmentioning

confidence: 99%

“…The portable orthosis utilizes a bidirectional pneumatic rotary actuator for providing plantar and dorsi-flexion movements. A portable pneumatic cylinder filled with compressed carbon dioxide is used to power the AFO (46).…”

Section: Miscellaneous Ankle Orthosesmentioning

confidence: 99%

Single joint robotic orthoses for gait rehabilitation: An educational technical review

Hussain¹,

Jamwal²,

Ghayesh³

2016

J Rehabil Med

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Robot-assisted physical gait therapy is gaining recognition among the rehabilitation engineering community. Several robotic orthoses for the treatment of gait impairments have been developed during the last 2 decades, many of which are designed to provide physical therapy to a single joint of the lower limb; these are reviewed here. The mechanism design and actuation concepts for these single joint robotic orthoses are discussed. The control algorithms developed for these robotic orthoses, which include trajectory tracking control and assist-as-needed control, are described. Finally, the mechanism design and control of single joint robotic orthoses are discussed. There is a strong need to develop assist-as-needed control algorithms and to perform clinical evaluation of these robotic orthoses in order to establish their therapeutic efficacy.

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“…In order to improve the tracking accuracy of the robot manipulator control system with parameter uncertainties and external disturbance, Many control algorithm such as the adaptive control [1], [2], intelligent control [3], [4], disturbance observer [5] and robust control [6], [7] have been proposed to deal with this robotic control problem. However, as well known, the adaptive control and robust control depended on the complete dynamics of robots, or the unknown parameters must be of linear structure, moreover, the unknown parameters are assumed to be constant or slowly varying.…”

Section: Introductionmentioning

confidence: 99%

Neural Network Control with Disturbance Observer for Uncertain Robot Manipulator

Wang¹,

Chen²,

Wu³

2019

JCP

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Robot manipulators are subject to different types of uncertainties which may degrade the tracking control performance or even make the system unstable. In this paper, a neural network tracking controller with disturbance observer is developed to deal with both the external disturbance and the dynamic parametric uncertainties. First, RBF neural network is introduced to learn and approximate the uncertain robot dynamic by using adaptive algorithm. Next, a nonlinear disturbance observer is designed to estimate and compensate for external disturbances and remove the effect of the disturbance. Simulation results show that the proposed control scheme has good tracking performance, which can effectively suppress the uncertain dynamics and external disturbances of the manipulator systems.

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A neuro-fuzzy approach to real-time trajectory generation for robotic rehabilitation

Cited by 13 publications

References 17 publications

No distance between disabled people and rehabilitation engineer in high-tech era

No distance between disabled people and rehabilitation engineer in high-tech era

Single joint robotic orthoses for gait rehabilitation: An educational technical review

Neural Network Control with Disturbance Observer for Uncertain Robot Manipulator

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