Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao; Shinichirou Yamamoto

doi:10.1109/EMBC.2018.8512608

Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao, Shinichirou Yamamoto

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.

本文言語	English
ホスト出版物のタイトル	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	1719-1722
ページ数	4
巻	2018-July
ISBN（電子版）	9781538636466
DOI	https://doi.org/10.1109/EMBC.2018.8512608
出版ステータス	Published - 2018 10月 26
イベント	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States 継続期間: 2018 7月 18 → 2018 7月 21

Other

Other	40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
国/地域	United States
City	Honolulu
Period	18/7/18 → 18/7/21

ASJC Scopus subject areas

信号処理
生体医工学
コンピュータビジョンおよびパターン認識
健康情報学

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10.1109/EMBC.2018.8512608

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引用スタイル

Dao, QT & Yamamoto, S 2018, Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation. in 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018. vol. 2018-July, 8512608, Institute of Electrical and Electronics Engineers Inc., pp. 1719-1722, 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018, Honolulu, United States, 18/7/18. https://doi.org/10.1109/EMBC.2018.8512608

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title = "Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation",

abstract = "Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.",

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KW - pneumatic artificial muscle

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Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

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