Estimation of upper limb impedance parameters using recursive least square estimator
For the past decade, researchers have developed rehabilitation robot based-therapy for post-stroke patients which goal is to complement the traditional manual therapy. However, they are still lacking in terms of measuring the human arm’s impedance that neurorehabilitation therapist used to estim...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
IEEE
2016
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/54758/ http://irep.iium.edu.my/54758/ http://irep.iium.edu.my/54758/ http://irep.iium.edu.my/54758/1/54758.pdf http://irep.iium.edu.my/54758/2/54758-Estimation%20of%20Upper%20Limb%20Impedance%20Parameters%20Using%20Recursive%20Least%20Square%20Estimator_SCOPUS.pdf |
| Summary: | For the past decade, researchers have developed
rehabilitation robot based-therapy for post-stroke patients which
goal is to complement the traditional manual therapy. However,
they are still lacking in terms of measuring the human arm’s
impedance that neurorehabilitation therapist used to estimate
before deploying a specific training regime. There are numerous
assessment strategies exist to estimate the upper limb impedance
parameters and movement ability post-stroke, but most of the
strategies are subjective though guided by detailed description and
the assessment consequence is qualitative rather than quantitative
and objective. Hence, there are still remain challenges to unearth
assessment strategy that can measure stroke patients’ upper limb
impedance parameters in a safe, cost efficient, quantitative,
objective and reliable. The paper proposes appropriate
mathematical model for a 3-DOF robot-assisted platform for poststroke
rehabilitation that has the ability to estimate the upper-limb
mechanical impedance parameters using recursive least square
estimator method. Preliminary experimental result shows that the
upper-limb impedance parameters can be estimated. Therefore,
these acquired outcomes could be useful in the interaction between
the robot platform and patient undergoes neurorehabilitation
therapy. |
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