Affiliation:
1. Figes Engineering, Istanbul, Turkey
2. Duygun Erol Barkana, Department of Electrical and Electronics Engineering, Yeditepe University, Istanbul, Turkey
Abstract
In this study, an exoskeleton type robot-assisted rehabilitation system, called RehabRoby, is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed so that RehabRoby can complete the given rehabilitation task in a desired and safe manner. A hybrid system modelling technique is used for the high-level controller. An admittance control with an inner robust position control loop is used for the low-level control of the RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system, RehabRoby. Furthermore, the usability of RehabRoby is evaluated.
Subject
Artificial Intelligence,Computer Science Applications,Software
Cited by
26 articles.
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