Adaptive Controller for Wrist Tele-rehabilitation System by Using Batch Least-Square Identifier

This paper introduces an innovative approach aimed at improving the rehabilitation process for individuals with wrist impairments. It proposes the use of an Adaptive Controller, which leverages the Batch Least-Square Identifier (BaLSI) for a 3-Degree-of-Freedom (3-DOF) wrist tele-rehabilitation system. The focus of this research revolves around designing, implementing, and assessing an adaptive control system that employs BaLSI to continuously and accurately estimate the patient’s wrist movement characteristics in real-time. This controller adjusts its parameters based on ongoing feedback from the patient’s movements, resulting in a customized and responsive rehabilitation experience. The study demonstrates significant improvements in tele-rehabilitation, including enhanced accuracy, greater patient comfort, and increased engagement. The adaptive controller, driven by BaLSI, enables precise path tracking in uncertain conditions, offering a promising advancement in tele-rehabilitation. This research contributes to the field of adaptive control and tele-rehabilitation, offering potential for personalized remote rehabilitation.