Hybrid impedance control of a 3-DOF robotic arm used for rehabilitation treatment

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

13 Citations (Scopus)

Abstract

A 3-DOF planar robotic arm is designed and used as a rehabilitation treatment tool for the survivor after suffering a stroke, aiming to assist them to recover upper-limb function. In order to strengthen the patient's arm, some forces are desired to be followed while the position trajectories should be tracked simultaneously, therefore hybrid impedance control (HIC) is proposed. Due to the redundancy for the planar motion, besides the main task, the secondary task is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. Some typical trajectories are simulated for rehabilitation motion and a couple of simulations are made to study both the impedance control and hybrid impedance control strategies. The simulation results are compared and discussed and the tracking effectiveness of the proposed method is confirmed.
Original languageEnglish
Title of host publication2010 IEEE International Conference on Automation Science and Engineering, CASE 2010
Pages768-773
Number of pages6
DOIs
Publication statusPublished - 17 Nov 2010
Externally publishedYes
Event2010 IEEE International Conference on Automation Science and Engineering, CASE 2010 - Toronto, ON, Canada
Duration: 21 Aug 201024 Aug 2010

Conference

Conference2010 IEEE International Conference on Automation Science and Engineering, CASE 2010
CountryCanada
CityToronto, ON
Period21/08/1024/08/10

ASJC Scopus subject areas

  • Control and Systems Engineering

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