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Neuro-fuzzy compliance control for rehabilitation robotics
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.
Space Mechatronics Group, Aerospace Undergraduate Laboratories, University of Toronto Institute for Aerospace Studies.
2010 (English)In: 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob, Tokyo, Japan, 26-29 September 2010, Piscataway, NJ: IEEE Communications Society, 2010, 560-565 p., 5626050Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a methodology for the design of a real-time neuro-fuzzy controller for the robotic rehabilitation of patients with upper-limb dysfunction due to neurological diseases. The approach utilizes a fuzzy-logic schema to introduce compliance into the human-robot interaction, and to allow the emulation of a wide variety of therapy techniques. It also allows for the fine-tuning of system dynamics using linguistic variables. The rule base for the system is trained using a fuzzy clustering algorithm and applied to experimental data gathered during traditional therapy sessions. The compliance rule base is combined with a hybrid neuro-fuzzy compensator to automatically tune the dynamics of the system on-line. The control algorithm is implemented as a platform-independent solution to facilitate the rehabilitation of patients using multiple manipulator configurations. Preliminary experimentation has shown promising results indicating that the proposed methodology can accurately replicate the desired compliance profiles in real-time. © 2010 IEEE.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2010. 560-565 p., 5626050
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-40162DOI: 10.1109/BIOROB.2010.5626050Scopus ID: 78650402991Local ID: f2cb531a-2224-4aee-b4ef-24671d4354c3ISBN: 9781424477081 (print)OAI: oai:DiVA.org:ltu-40162DiVA: diva2:1013685
Conference
IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics : 26/09/2010 - 29/09/2010
Note
Upprättat; 2010; 20141215 (ninhul)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-10-19Bibliographically approved

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CiteExportLink to record
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