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ICRA
2000
IEEE

Robot Assisted Standing-Up

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Robot Assisted Standing-Up
The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of “patient-driven” robotassisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject’s initiative is demonstrated. © 2006 IPEM. Published by Elsevier Ltd. All rights reserved.
Roman Kamnik, Tadej Bajd
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Roman Kamnik, Tadej Bajd
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