Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Electric Energy Losses Estimation in Power Distribution System—Tuzla Canton Case Study Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Impedance Control in the Rehabilitation Robotics

Author : Zlata Jelačić

Published in: Advanced Technologies, Systems, and Applications II

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Physical interactions between patients and therapists during rehabilitation have served as motivation for the design of rehabilitation robots, yet there is a lack in fundamental understanding of the principles governing such human-human interactions. Review of the literature posed important open questions regarding sensorimotor interaction during human-human interactions that could facilitate the design of human-robot interactions and haptic interfaces for rehabilitation. The goal is to use the leading principles of the human-human interaction in order to define a way in which people could be in contact with robots in a more intuitive and biologically inspired way. The proposed hybrid impedance control solves the robot–environment contact problem and offers a possible solution for the rehabilitation robot interaction problem.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Heuristic Optimization Methods in Industrial Robotics
next chapter Comparison of Numerical and Experimental Results of Measuring Vehicle Movement Kinematic Parameters Integrated into Advanced Mechatronic Systems
Literature
1.
Jarrassé, N., Charalambous, T., Burdet, E.: A framework to describe, analyze and generate interactive motor behaviors. PLoS ONE 7, 1–13 (2012)CrossRef
2.
Galvez, J.A., Kerdanyan, G., Maneekobkunwong, S., Weber, R., Scott, M., Harkema, S.J., Reinkensmeyer, D.J.: “Measuring Human Trainers” skill for the design of better robot control algorithms for gait training after spinal cord injury. In: Proceedings of the IEEE Conference on Rehabilitation Robotics, pp. 231–234 (2005)
3.
Ikeura, R., Morita, A., Mizutani, K.: Variable-damping characteristics in carrying an object by two humans. In: Proceedings of the IEEE International Workshop on Robot and Human Communication, pp. 130–134 (1997)
4.
5.
6.
Lum, P.S., Burgar, C.G., Shor, P.C., Majmundar, M., Van der Loos, M.: Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke. Arch. Phys. Med. Rehabil. 83(7), 952–959 (2002)CrossRef
7.
Basteris, A., Nijenhuis, S.M., Stienen, A.H., Buurke, J.H., Prange, G.B., Amirabdollahian, F.: Training modalities in robot-mediated upper limb rehabilitation in stroke: a framework for classification based on a systematic review. J Neuroeng Rehabil. 11, 111 (2014)CrossRef
8.
Romer, G.R.B.E., Stuyt, H.J.A., Peters, A.: Cost-savings and economic benefits due to the assistive robotic manipulator (ARM). Conf. Proc IEEE Rehabil Robot. 1, 201–204 (2005)
9.
Bemelmans, R., Gelderblom, G.J., Jonker, P., de Witte, L.: Socially assistive robots in elderly care: a systematic review into effects and effectiveness. J. Am. Med. Dir. Assoc. 13(2), 114–120 (2012)CrossRef
10.
11.
12.
13.
14.
15.
Knaepen, K., Beyl, P., Duerinck, S., Hagman, F., Lefeber, D., Meeusen, R.: Human-robot interaction: kinematics and muscle activity inside a powered compliant knee exoskeleton. IEEE Trans. Neural Syst. Rehabil. Eng. 22(6), 1128–1137 (2014)CrossRef
16.
Alamdari, A., Krovi, V.: Robotic physical exercise and system. Biomed. Eng. Lett. 6(1–9), 9 (2016)
17.
(ROPES): A cable-driven robotic rehabilitation system for lower-extremity motor therapy. In: Conference Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 1, pp. 1–10 (2015)
18.
Li, J., Zheng, R., Zhang, Y., Yao, J.: iHandRehab: an interactive hand exoskeleton for active and passive rehabilitation. Conf. Proc. IEEE Rehabil. Robot. 1, 1–6 (2011)
19.
Casadio, M., Sanguineti, V., Morasso, P.G., Arrichiello, V.: Braccio di Ferro: a new haptic workstation for neuromotor rehabilitation. Technol. Health Care 14(3), 123–142 (2006)
20.
Huang, F.C., Patton, J.L., Mussa-Ivaldi, F.A.: Negative viscosity can enhance learning of inertial dynamics. Conf. Proc. IEEE Rehabil. Robot. 1, 474–479 (2009)
21.
22.
Jung, H., Han, J., Kim, C.Y., Chun, K.J., Jung, D., Kim, J.S., Lim, D.: Characteristics of center of body mass trajectory and lower extremity joint motion responded by dynamic motions of balance training system. Biomed. Eng. Lett. 5(2), 92–97 (2015)CrossRef
23.
Biswas, D., Cranny, A., Rahim, A.F., Gupta, N., Maharatna, K., Harris, N.R., Ortmann, S.: On the data analysis for classification of elementary upper limb movements. Biomed. Eng. Lett. 4(4), 403–413 (2014)CrossRef
24.
Parra-Dominguez, G.S., Snoek, J., Taati, B., Mihailidis, A.: Lower body motion analysis to detect falls and near falls on stairs. Biomed Eng Lett. 5(2), 98–108 (2015)CrossRef
25.
Jensen, U., Leutheuser, H., Hofmann, S., Schuepferling, B., Suttner, G., Seiler, K., Kornhuber, J., Eskofier, B.M.: A wearable real-time activity tracker. Biomed. Eng. Lett. 5(2), 147–157 (2015)CrossRef
26.
Lajeunesse, V., Vincent, C., Routhier, F., Careau, E., Michaud, F.: Exoskeletons’ design and usefulness evidence according to a systematic review of lower limb exoskeletons used for functional mobility by people with spinal cord injury. Disabil. Rehabil. Assist. Technol. 4, 1–13 (2015)
27.
Benson, I., Hart, K., Tussler, D., van Middendorp, J.J.: Lower-limb exoskeletons for individuals with chronic spinal cord injury: findings from a feasibility study. Clin. Rehabil. 30(1), 73–84 (2016)CrossRef
28.
Asselin, P., Knezevic, S., Kornfeld, S., Cirnigliaro, C., Agranova-Breyter, I., Bauman, W.A., Spungen, A.M.: Heart rate and oxygen demand of powered exoskeleton-assisted walking in persons with paraplegia. J. Rehabil. Res. Dev. 52(2), 147–158 (2015)CrossRef
29.
Kozlowski, A.J., Bryce, T.N., Dijkers, M.P.: Time and effort required by persons with spinal cord injury to learn to use a powered exoskeleton for assisted walking. Top. Spinal Cord Inj. Rehabil. 21(2), 110–121 (2015)CrossRef
30.
Hartigan, C., Kandilakis, C., Dalley, S., Clausen, M., Wilson, E., Morrison, S., Etheridge, S., Farris, R.: Mobility outcomes following five training sessions with a powered exoskeleton. Top. Spinal Cord Inj. Rehabil. 21(2), 93–99 (2015)CrossRef
31.
Waldron, K., Schmiedeler, J.: Kinematics. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 9–33. Springer, Berlin, Heidelberg (2008)CrossRef
32.
Siciliano, B., Villani, L.: Robot Force Control, volume 540 of The Springer International Series in Engineering and Computer Science. Springer US (1999)
33.
Villani, L., de Schutter, J.: Force control. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 161–187. Springer (2008)
34.
Hogan, N.: Impedance control: an approach to manipulation: Part I—Theory. J. Dyn. Syst. Meas. Contr. 107(1), 1–7 (1985)CrossRefMATH
35.
Salisbury, J.K.: Active stiffness control of a manipulator in Cartesian coordinates. In: 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, vol. 19, pp. 95–100 (1980)
36.
Raibert, M.H., Craig, J.J.: Hybrid position/force control of manipulators. J. Dyn. Syst. Meas. Control 103(2), 126–133 (1981)CrossRef
37.
de Schutter, J., Van Brussel, H.: Compliant robot motion II. A control approach based on external control loops. Int. J. Robot. Res. 7(4), 18–33 (1988)CrossRef
38.
Chiaverini, S., Sciavicco, L.: The parallel approach to force/position control of robotic manipulators. IEEE Trans. Robot. Autom. 9(4), 361–373 (1993)CrossRef
39.
Yoshikawa, T.: Force control of robot manipulators. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), vol. 1, pp. 220–226 (2000)
40.
Brogliato, B.: Feedback control. In: Nonsmooth Mechanics, Communications and Control Engineering, pp. 397–461. Springer, London (1999)
41.
42.
43.
Urbanek, H., Albu-Schaffer, A., Van Der Smagt, P.: Learning from demonstration: repetitive movements for autonomous service robotics. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 4, pp. 3495–3500 (2004)
44.
45.
Karayiannidis, Y., Doulgeri, Z.: Robot contact tasks in the presence of control target distortions. Robot. Auton. Syst. 58(5), 596–606 (2010)CrossRef
46.
Vanderborght, B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D.G., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Visser, L.C., Wolf, S.: Variable impedance actuators: a review. Robot. Auton. Syst. 61(12), 1601–1614 (2013)CrossRef
47.
Caccavale, F., Uchiyama, M.: Cooperative manipulators. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 701–718. Springer, Berlin, Heidelberg (2008)CrossRef
48.
Uchiyama, M.: Chapter 1 Multi-arm robot systems: A survey. In: Chiacchio, Pasquale, Chiaverini, Stefano (eds.) Complex Robotic Systems. Lecture Notes in Control and Information Sciences, vol. 233, pp. 1–31. Springer, Berlin Heidelberg (1998)CrossRef
49.
Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D.V., Kragic, D.: Dual arm manipulation—a survey. Robot. Auton. Syst. 60(10), 1340–1353 (2012)CrossRef
50.
Maitin-Shepard, J., Cusumano-Towner, M., Lei, J., Abbeel, P.: Cloth grasp point detection based on multiple-view geometric cues with application to robotic towel folding. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2308–2315 (2010)
51.
52.
Uchiyama, M., Dauchez, P.: Symmetric kinematic formulation and nonmaster/slave coordinated control of two-arm robots. Adv. Robot. 7(4), 361–383 (1992)CrossRef
53.
Koivo, A.J., Unseren, M.A.: Reduced order model and decoupled control architecture for two manipulators holding a rigid object. J. Dyn. Syst. Meas. Control 113(4), 646–654 (1991)CrossRefMATH
54.
Caccavale, F., Chiacchio, P., Marino, A., Villani, L.: Six-dof impedance control of dual-arm cooperative manipulators. IEEE/ASME Trans. Mechatron. 13(5), 576–586 (2008)CrossRef
55.
Caccavale, F., Villani, L.: Impedance control of cooperative manipulators. Mach. Intell. Robot. Control 2, 51–57 (2000)
Metadata
Title
Impedance Control in the Rehabilitation Robotics
Author
Zlata Jelačić
Copyright Year
2018
Book
Advanced Technologies, Systems, and Applications II

Print ISBN: 978-3-319-71320-5

Electronic ISBN: 978-3-319-71321-2

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-71321-2_85

Premium Partner

    Image Credits