Hybrid Force/Impedance Control for the Robotized Rehabilitation of the Upper Limbs

Moughamir, S.; Denève, Alexandre; Zaytoon, Janan; Afilal, Lissan

doi:10.3182/20050703-6-cz-1902.02170

Cited by 9 publications

(3 citation statements)

References 12 publications

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“…The second structure is a series hybrid connection between admittance position control and impedance control. This framework [34] employs no switch, but the two controllers are combined to generate the control signal based on the proportion. Depending on the mechanical nature of the environment, a weighting factor is used to determine which controller is more dominant.…”

Section: Series Structure Without a Switched Frameworkmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and simultaneously regulate the contact torque. The literature describes two structures of HIPC: (1) a switched framework between admittance and impedance control operating in parallel (HIPCSW); and (2) a series connection between admittance and impedance control without switching. In this study, a hybrid adaptive impedance and position-based admittance control (HAIPC) in series is developed, which consists of a proportional derivative-based admittance position controller with gravitational torque compensation and an adaptive impedance controller. An extended state observer is used to estimate the interaction joint torque due to human stiff contact with the exoskeleton without the use of force/torque sensor, which is then used in the adaptive algorithm to update the stiffness and damping gains of the adaptive impedance controller. Simulation results obtained using MATLAB show that the proposed HAIPC significantly reduces the mean absolute values of the actuation torques (control inputs) required for the shoulder and elbow joints in comparison with HIPC and HIPCSW.

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Section: Series Structure Without a Switched Frameworkmentioning

confidence: 99%

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Abdullahi,

Haruna,

Chaichaowarat

2024

JSAN

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“…For example, Perez-Ibarra et al ( 2017 ) used an H-infinity force control to implement this approach. This hybrid impedance-force controller can be implemented by different methods such as weighted sum (Moughamir et al, 2005 ) or robust Markovian approach (Jutinico et al, 2017 ). However, this method only controls the compliance (i.e., interaction force) term, and the impedance gains are not optimal.…”

Section: Introductionmentioning

confidence: 99%

Configuration-Dependent Optimal Impedance Control of an Upper Extremity Stroke Rehabilitation Manipulandum

2018

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“…Because of the excessive reaction force due to the inappropriate pose of the forearm, the conventional CPM devices for the elbow joint have lower therapeutic effect than those for the knee joint, so practical use of the CPM device for the elbow joint is fewer than that for the knee joint. For the problem that the reaction force increases excessively, the method with pneumatic actuators (Noritsugu et al, 1997;Tsgarakis et al, 2003) and impedance control for decrease of load to joint (Moughamir, 2005) were proposed. Although these actuators and control method can realize the suppression of the reaction force, but narrow the range of the flex-/extension because of soft control.…”

mentioning

confidence: 99%

Impedance Control of Two d.o.f. CPM Device for Elbow Joint

Matsunaga¹,

Miyaguchi²,

Okajima³

et al. 2014

J. Robot. Mechatron.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/16.jpg"" width=""200"" /> Two d.o.f. CPM device</span></div> Continuous passive motion (CPM) involves orthopedic or post-surgery physiotherapy. Following surgery to correct ulna collateral ligament (UCL) injury in the elbow, for example, excessively extending the UCL aggravates the injury and reaction force of the arm increases excessively near the end of the range of motion (ROM). Controlling pro/supination, i.e., rotarymotion of the wrist, effectively suppresses reaction force, but may extend the UCL excessively. We propose a 2 d.o.f. (degrees of freedom) impedance controller as a CPM device for the elbow to suppress reaction force based on the musculoskeletal system. </span>

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Hybrid Force/Impedance Control for the Robotized Rehabilitation of the Upper Limbs

Cited by 9 publications

References 12 publications

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot

Configuration-Dependent Optimal Impedance Control of an Upper Extremity Stroke Rehabilitation Manipulandum

Impedance Control of Two d.o.f. CPM Device for Elbow Joint

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