Hybrid Force-Position Control Yields Cooperative Behaviour of the Rehabilitation Robot Lokomat

Bernhardt, Michael; Frey, Martin; Colombo, G.; Riener, Robert

doi:10.1109/icorr.2005.1501159

Cited by 123 publications

(71 citation statements)

References 7 publications

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“…LOKOMAT (Bernhardt et al, 2005) and ALEX (Banala et al, 2007) were developed as gait rehabilitation robotic systems. The robotic systems for therapeutic exercises for lower limbs were developed to perform some repetitive, resistive, and assistive exercises which are performed by the PT or equipment.…”

Section: Fig 28 Arm Guidementioning

confidence: 99%

Rehabilitation Technologies: Biomechatronics Point of View

Akdoğan¹,

Demir²

2012

A Roadmap of Biomedical Engineers and Milestones

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Section: Fig 28 Arm Guidementioning

confidence: 99%

Rehabilitation Technologies: Biomechatronics Point of View

Akdoğan¹,

Demir²

2012

A Roadmap of Biomedical Engineers and Milestones

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“…Recently, a considerable amount of research has been conducted to address the challenges involved in controlling the rehabilitation robots. In order to realize therapeutic exercises using robots, different control strategies such as position control [5], hybrid position-force control [6], and impedance [1,[7][8][9] or admittance [10][11][12] control have been proposed. Among recent works, Nef et al have presented a PD controller for the arm-therapy robot ARMin [13] using an inverse dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Sliding Mode Admittance Control of Exoskeleton Rehabilitation Robots

2017

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A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds.For this purpose, another adaptation law is defined for the variation of the SMC gain.The proposed scheme is augmented with an admittance control method to provide compliance for the patient during interaction with the rehabilitation robot. The stability of the proposed controller and the tracking performance of the system are proven using the Lyapunov stability theorem. To verify the effectiveness of the proposed control method, some simulations are conducted for a nonlinear lower-limb exoskeleton robot interacting with a patient leg via some braces. Based on the obtained results, the controller is able to provide a flexibility for the patient and appropriately respond to his/her non-compliant interaction torques. Moreover, the proposed controller significantly reduces the chattering of the input torques in comparison with a previous adaptive control method with a constant SMC gain, while it maintains a similar tracking performance.

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“…Robots intended for walking training [13,14] and exoskeletal robots [15][16][17][18][19], which also give walking support, are developed by researchers. Moreover, there are robotic systems, which accomplish active, passive, and resistive exercises, that play an important role in lower extremity rehabilitation.…”

Section: Introductionmentioning

confidence: 99%

Upper limb rehabilitation robot for physical therapy: design, control, and testing

Akdoğan¹

2016

Turk J Elec Eng & Comp Sci

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Abstract:In recent years, the treatment process of patients and disabled people who need rehabilitation and physical medicine has become more effective with the use of new devices and developing technology. The rehabilitation robot is one of the most important developments in new technology. The right therapeutic exercises and the objectivity of the evaluation of the range of motion (ROM; generated torque and muscular activation measurement of the patient) are extremely important factors during treatment. In this study, a lower limb rehabilitation robot was modified and controlled for upper limbs. The retrofitted robot system is able to do passive, active, and active-assistive therapeutic exercises. On the other hand, it performs active-assistive exercises using muscular activation. A web-based human machine interface, which can support home-care service, was developed to control the robotic system. This interface includes a performance evaluation unit, which is able to use not only ROM and torque, but also muscular activation of patients for the assessment of therapy results. Thanks to this system, assessment and physical therapy can be realized by a single robotic system for both upper and lower limbs using physical parameters such as ROM, generated torque, and muscular activation of the limbs. Satisfactory performance of the system is observed in the tests performed with a healthy subject.

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Hybrid Force-Position Control Yields Cooperative Behaviour of the Rehabilitation Robot Lokomat

Cited by 123 publications

References 7 publications

Rehabilitation Technologies: Biomechatronics Point of View

Rehabilitation Technologies: Biomechatronics Point of View

Robust Adaptive Sliding Mode Admittance Control of Exoskeleton Rehabilitation Robots

Upper limb rehabilitation robot for physical therapy: design, control, and testing

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