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General information |
| Author |
Pan, Lizheng; Song, Aiguo; Xu, Guozheng; Li, Huijun; Zeng, Hong; Xu, Baoguo |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
User security is an important consideration for
robots that interact with humans, especially for upper‐limb
rehabilitation robots, during the use of which stroke patients
are often more susceptible to injury. In this paper, a novel
safety supervisory control method incorporating fuzzy logic
is proposed so as to guarantee the impaired limb’s safety
should an emergency situation occur and the robustness of
the upper‐limb rehabilitation robot control system. Firstly, a
safety supervisory fuzzy controller (SSFC) was designed
based on the impaired‐limb’s real‐time physical state by
extracting and recognizing the impaired‐limb’s tracking
movement features. Then, the proposed SSFC was used to
automatically regulate the desired force either to account for
reasonable disturbance resulting from pose or position
changes or to respond in adequate time to an emergency
based on an evaluation of the impaired‐limb’s physical
condition. Finally, a position‐based impedance controller
was implemented to achieve compliance between the
robotic end‐effector and the impaired limb during the robotassisted
rehabilitation training. The experimental results
show the effectiveness and potential of the proposed
method for achieving safety and robustness for the
rehabilitation robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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