Minimal Assist-as-Needed Controller for Upper Limb Robotic Rehabilitation

• Published in: IEEE transactions on robotics Vol. 32; no. 1; pp. 113 - 124
• Main Authors: Pehlivan, Ali Utku, Losey, Dylan P., OMalley, Marcia K.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Algorithms; Controllers; Estimation; Force; Friction; human-robot interaction; Lyapunov methods; Neurological disorders; nonlinear control systems; rehabilitation robotics; Robot kinematics; Robot sensing systems; Robotics; Robots; sensorless control; Trajectory; sensorless control; rehabilitation robotics; Adaptive control; human–robot interaction; nonlinear control systems; Lyapunov methods

Robotic rehabilitation of the upper limb following neurological injury is most successful when subjects are engaged in the rehabilitation protocol. Developing assistive control strategies that maximize subject participation is accordingly an active area of research, with aims to promote neural plast...