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Journal article
Identification of Arm Locomotion and Controller Synthesis for Assistive Robotic Systems
ICIC Express Letters, Vol.6(10), pp.2659-2665
2012
Abstract
In the past few decades, robotic tools have been widely used for neurorehabilitation to recover from different diseases. However, poorly scheduled movement of such tools can limit the functional outcomes after robot-assisted therapy. It is therefore desired to integrate control strategies, human behaviour, motor learning, environmental feedback, and task-engagement in an assistive robotic system. With these considerations, improvements in the effectiveness of these tools may be achieved. This paper proposes a complete framework that programs a robotic arm to mimic the movement of a real human arm. The mathematical representation of a specific locomotion of human arms is first developed. The identified trajectories can then be used as the control reference for an assistive robot. With the consideration of cross-coupling dynamics, the control strategies can be implemented to compensate the movement of both shoulder and elbow.
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Details
- Title
- Identification of Arm Locomotion and Controller Synthesis for Assistive Robotic Systems
- Publication Details
- ICIC Express Letters, Vol.6(10), pp.2659-2665
- Resource Type
- Journal article
- Publisher
- I C I C International
- Identifiers
- 99380456292106600
- Academic Unit
- Dr. Muhammad Harunur Rashid Department of Electrical and Computer Engineering; Hal Marcus College of Science and Engineering
- Language
- English