By Topic

Coordinated Control of Assistive Robotic Devices for Activities of Daily Living Tasks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Erol, D. ; Dept. of Electr. & Electron. Eng., Yeditepe Univ., Istanbul ; Sarkar, N.

Recent research in rehabilitation indicates that tasks that focus on activities of daily living (ADL) are likely to show significant increase in motor recovery after stroke. Most ADL tasks require patients to coordinate their arm and hand movements to complete these tasks. This paper presents a new control approach for robot-assisted rehabilitation of stroke patients that enables them to perform ADL by providing controlled and coordinated assistance to both arm and hand movement. The control architecture is represented in terms of a hybrid system model combining a high-level controller for decision-making and two low-level assistive controllers (arm and hand controllers) for arm and hand motion assistance. The presented controller is implemented on a test-bed and the results of this implementation are presented to demonstrate the feasibility of the proposed control architecture.

Published in:

Neural Systems and Rehabilitation Engineering, IEEE Transactions on  (Volume:16 ,  Issue: 3 )