title   
  

A multi-lateral rehabilitation system

Satıcı, Aykut Cihan and Erdoğan, Ahmetcan and Patoğlu, Volkan (2011) A multi-lateral rehabilitation system. Turkish Journal of Electrical Engineering and Computer Sciences, 19 (5). pp. 715-723. ISSN 1300-0632

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Official URL: http://dx.doi.org/10.3906/elk-1007-585

Abstract

This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Dierent control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The eectiveness of the controller and regulation of the dominance for each agent is experimentally veried.

Item Type:Article
Uncontrolled Keywords:Robot-assisted rehabilitation; physical therapy for forearm and wrist; multi-lateral control architecture; wrist exoskeleton
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-4661 Electrical engineering. Electronics Nuclear engineering
Q Science > QA Mathematics > QA075 Electronic computers. Computer science
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
ID Code:17316
Deposited By:Volkan Patoğlu
Deposited On:27 Oct 2011 14:56
Last Modified:27 Oct 2011 14:56

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