Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture

Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrate...

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Main Authors:	Mohd Khairuddin, Ismail, Sidek, Shahrul Na'im, Md. Yusof, Hazlina, Abdul Majeed, A.P.P., Puzi, A Ahmad, Rosly, H Mat
Format:	Conference or Workshop Item
Language:	English English
Published:	IOP Publishing 2018
Subjects:	T Technology (General)
Online Access:	http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf

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recordtype	eprints
spelling	iium-633582019-01-10T04:49:34Z http://irep.iium.edu.my/63358/ Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat T Technology (General) Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paperpresents an assistive control strategy based on impedance controltechnique. Dynamic modellingofupper arm is obtainedby utilisingthe Euler-Lagrange formulation. The proportional-derivative (PD),computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller onacceleration-based impedance model.The resultsshow that impedance controller is more suitable as it allows the cooperative effort of the patient. IOP Publishing 2018-04-06 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf application/pdf en http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf Mohd Khairuddin, Ismail and Sidek, Shahrul Na'im and Md. Yusof, Hazlina and Abdul Majeed, A.P.P. and Puzi, A Ahmad and Rosly, H Mat (2018) Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture. In: International Conference on Innovative Technology, Engineering and Sciences 2018 (iCITES 2018), 1-2 March 2018, Pahang, Malaysia. http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012049/pdf 10.1088/1757-899X/342/1/012049
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	T Technology (General)
spellingShingle	T Technology (General) Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
description	Rehabilitation is a necessary restoration process of recovering impaired joint motion and muscle strength. Recent trends of rehabilitation have also moved towards providing more participation of the patient in therapy rather than simple passive treatments as it has been demonstrated to be non-trivial in promoting neural plasticity meant to promote motor recovery process. This paperpresents an assistive control strategy based on impedance controltechnique. Dynamic modellingofupper arm is obtainedby utilisingthe Euler-Lagrange formulation. The proportional-derivative (PD),computed torque control (CTC) impedance based framework is applied to examine its effectiveness in performing joint-space control with objectives specified in rehabilitating the elbow joint along the sagittal plane. A feasibility study through simulation was carried out to investigate the efficacy of the proposed controller onacceleration-based impedance model.The resultsshow that impedance controller is more suitable as it allows the cooperative effort of the patient.
format	Conference or Workshop Item
author	Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat
author_facet	Mohd Khairuddin, Ismail Sidek, Shahrul Na'im Md. Yusof, Hazlina Abdul Majeed, A.P.P. Puzi, A Ahmad Rosly, H Mat
author_sort	Mohd Khairuddin, Ismail
title	Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
title_short	Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
title_full	Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
title_fullStr	Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
title_full_unstemmed	Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture
title_sort	assistive-as-needed strategy for upper-limb robotic systems: a preliminary evaluation of the impedance control architecture
publisher	IOP Publishing
publishDate	2018
url	http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/ http://irep.iium.edu.my/63358/7/63358%20Assistive-as-Needed%20Strategy%20for%20Upper-Limb%20Robotic%20Systems%20SCOPUS.pdf http://irep.iium.edu.my/63358/13/63358_Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems_article.pdf
first_indexed	2023-09-18T21:29:52Z
last_indexed	2023-09-18T21:29:52Z
_version_	1777412438738599936

Assistive-as-needed strategy for upper-limb robotic systems: A preliminary evaluation of the impedance control architecture

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