High-level controller for an arm rehabilitation robot - positioning algorithms with respect to EMG data

Gmerek, Artur

doi:10.1109/mmar.2011.6031341

Cited by 3 publications

(2 citation statements)

References 20 publications

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“…Using myosignals provides possibilities of estimating forces and fatigue produced by the muscles. This will be possible by applying EMG apparatus and algorithm based on signal processing with some elements of artificial intelligence [25].…”

Section: Device Descriptionmentioning

confidence: 99%

Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

Gmerek¹

2013

Archive of Mechanical Engineering

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This paper deals with mechanical and hardware design of a robot, used for the rehabilitation of upper extremities. It has been called ARR-1 (Arm Rehabilitation Robot). The robot has a semi-exoskeleton structure. This means that some parts of the robot fit closely to the human arm (an orthosis), but the weight of the construction does not load patient’s body. The device is used for the whole arm rehabilitation, but active joints are only situated in glenohumeral and elbow joints. The robot is electrically actuated

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Section: Device Descriptionmentioning

confidence: 99%

Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

Gmerek¹

2013

Archive of Mechanical Engineering

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“…Future experiments will be focused on comparison of different impedance controllers. After choosing the most optimal control architecture, the algorithm will be adopted to the rehabilitation robot control used for upper extremity rehabilitation [9]. Some study will be also decided upon in connection with verification of the stability of solutions in different control architectures.…”

Section: Future Workmentioning

confidence: 99%

Admittance control of a 1-DoF robotic arm actuated by BLDC motor

Gmerek

Jezierski

2012

2012 17th International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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The aim of this paper is to analyze the admittance control of a single-axis mechanism actuated by brushless DC (BLDC) motor. There is also presented an examination of applied control architecture. Experiments consisted of the study of high-speed contact of the manipulator with infinitely rigid environment, as well as slow increase in force, which affected the manipulator. There are presented simulation results, as well as the practical study. The impedance controller drives the torquecontrolled manipulator system. Force between the arm and the environment was estimated based on motor current. The paper shows from practical point of view how to efficiently steer BLDC motors with admittance controllers.

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The virtual reality system used for upper extremity rehabilitation

Gmerek

2012

2012 17th International Conference on Methods &Amp; Models in Automation &Amp; Robotics (MMAR)

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High-level controller for an arm rehabilitation robot - positioning algorithms with respect to EMG data

Cited by 3 publications

References 20 publications

Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

Mechanical and hardware architecture of the semi-exoskeleton arm rehabilitation robot

Admittance control of a 1-DoF robotic arm actuated by BLDC motor

The virtual reality system used for upper extremity rehabilitation

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