Passive velocity field control of a forearm-wrist rehabilitation robot

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Erdoğan, Ahmetcan and Satıcı, Aykut Cihan and Patoğlu, Volkan (2011) Passive velocity field control of a forearm-wrist rehabilitation robot. In: IEEE International Conference on Rehabilitation Robotics (ICORR 2011), Zurich, Switzerland

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Abstract

This paper presents design, implementation and control of a 3RPS-R exoskeleton, specifically built to impose targeted therapeutic exercises to forearm and wrist. Design of the exoskeleton features enhanced ergonomy, enlarged workspace and optimized device performance when compared to previous versions of the device. Passive velocity field control (PVFC) is implemented at the task space of the manipulator to provide assistance to the patients, such that the exoskeleton follows a desired velocity field asymptotically while maintaining passivity with respect to external applied torque inputs. PVFC is augmented with virtual tunnels and resulting control architecture is integrated into a virtual flight simulator with force-feedback. Experimental results are presented indicating the applicability and effectiveness of using PVFC on 3RPS-R exoskeleton to deliver therapeutic movement exercises.
Item Type: Papers in Conference Proceedings
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 07 Jan 2012 23:45
Last Modified: 26 Apr 2022 09:04
URI: https://research.sabanciuniv.edu/id/eprint/18219

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