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 demonstrated to be non-trivia...

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Main Authors:	Ismail, Mohd Khairuddin, S. N., Sidek, H., Md. Yusof, Anwar, P. P. Abdul Majeed, A., Ahmad Puzi, H., Mat Rosly
Format:	Conference or Workshop Item
Language:	English
Published:	IOP Publishing 2018
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/23127/ http://umpir.ump.edu.my/id/eprint/23127/ http://umpir.ump.edu.my/id/eprint/23127/1/Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems-%20A%20preliminary%20evaluation%20of%20the%20impedance%20control%20architecture.pdf

id	ump-23127
recordtype	eprints
spelling	ump-231272019-06-11T08:14:31Z http://umpir.ump.edu.my/id/eprint/23127/ Assistive-as-needed strategy for upper-limb robotic systems: a preliminary evaluation of the impedance control architecture Ismail, Mohd Khairuddin S. N., Sidek H., Md. Yusof Anwar, P. P. Abdul Majeed A., Ahmad Puzi H., Mat Rosly TS Manufactures 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 paper presents an assistive control strategy based on impedance control technique. Dynamic modelling of upper arm is obtained by utilising the 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 on acceleration-based impedance model. The results show that impedance controller is more suitable as it allows the cooperative effort of the patient. IOP Publishing 2018-04 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/23127/1/Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems-%20A%20preliminary%20evaluation%20of%20the%20impedance%20control%20architecture.pdf Ismail, Mohd Khairuddin and S. N., Sidek and H., Md. Yusof and Anwar, P. P. Abdul Majeed and A., Ahmad Puzi and H., Mat Rosly (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 (iCITES 2018), 1-2 March 2018 , Universiti Malaysia Pahang, Pahang, Malaysia. pp. 1-6., 342 (1). ISSN 1757-8981 (Print); 1757-899X (Online) https://iopscience.iop.org/article/10.1088/1757-899X/342/1/012049/pdf
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Ismail, Mohd Khairuddin S. N., Sidek H., Md. Yusof Anwar, P. P. Abdul Majeed A., Ahmad Puzi H., Mat Rosly 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 paper presents an assistive control strategy based on impedance control technique. Dynamic modelling of upper arm is obtained by utilising the 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 on acceleration-based impedance model. The results show that impedance controller is more suitable as it allows the cooperative effort of the patient.
format	Conference or Workshop Item
author	Ismail, Mohd Khairuddin S. N., Sidek H., Md. Yusof Anwar, P. P. Abdul Majeed A., Ahmad Puzi H., Mat Rosly
author_facet	Ismail, Mohd Khairuddin S. N., Sidek H., Md. Yusof Anwar, P. P. Abdul Majeed A., Ahmad Puzi H., Mat Rosly
author_sort	Ismail, Mohd Khairuddin
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://umpir.ump.edu.my/id/eprint/23127/ http://umpir.ump.edu.my/id/eprint/23127/ http://umpir.ump.edu.my/id/eprint/23127/1/Assistive-as-needed%20strategy%20for%20upper-limb%20robotic%20systems-%20A%20preliminary%20evaluation%20of%20the%20impedance%20control%20architecture.pdf
first_indexed	2023-09-18T22:34:32Z
last_indexed	2023-09-18T22:34:32Z
_version_	1777416507067727872

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

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