By Topic

Design of an admittance control with inner robust position control for a robot-assisted rehabilitation system RehabRoby

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
$33 $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)
Fatih Ozkul ; Electr. & Electron. Eng. Dept., Yeditepe Univ., Istanbul, Turkey ; Duygun Erol Barkana

In recent years, robot-assisted rehabilitation systems have become an active research area to quantitatively monitor and adapt to patient progress, and to ensure consistency during the rehabilitation. In this work, an exoskeleton type robot-assisted rehabilitation system called RehabRoby is developed for rehabilitation purposes. An admittance control with inner robust position control loop has been used to control the robot-assisted rehabilitation system RehabRoby. Real-time experiments are performed to evaluate the efficacy of the proposed admittance control with inner robust position control loop.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011