Design of a Brain-Actuated 2-Loop Position Control of a Robot Arm for Neuro-Motor Rehabilitation

The paper provides a brain-actuated position-control scheme of a robot-arm as a rehabilitative aid for people with acquired neuro-motor disability. Existing controllers employed for similar applications suffer from large steady-state error and settling-time, and high cognitive load. A 2-loop control system is proposed here to overcome the above limitations. Stability-analysis of the proposed system imposes a restriction on the maximum initial velocity of the robot-arm to maintain high stability.