Involuntary movement during haptics-enabled robotic rehabilitation: Analysis and control design

S. Farokh Atashzar, Abhijit Saxena, Mahya Shahbazi, Rajni V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a safety concern arising from pathological tremors in patients interacting with haptics-enabled rehabilitation robots is analyzed and the issue of tremor amplification for assistive/coordinative robotic rehabilitation is investigated. In order to deal with this issue, a control architecture is proposed to dissipate the extra energy of the system and guarantee its stability and safety of the patient. For this purpose, (a) first, a multilayer adaptive filter is proposed to estimate high-frequency components of hand motions (corresponding to involuntary movements); (b) then a resistive force field is generated and applied by the robot to attenuate the tremor; and (c) simultaneously the residual low-frequency voluntary actions are amplified/coordinated to deliver appropriate therapy. Stability analysis and a stabilization scheme are developed to guarantee safe interaction regardless of variations in the patient's dynamics and tremor kinematics. The ultimate goal is to make it possible for patients with pathological tremors to take advantage of non-passive robotic assistive/coordinative therapy. This would not be possible using conventional systems due to the possibility of tremor amplification. Experimental results are presented.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3561-3566
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Involuntary movement during haptics-enabled robotic rehabilitation: Analysis and control design'. Together they form a unique fingerprint.

  • Cite this

    Atashzar, S. F., Saxena, A., Shahbazi, M., & Patel, R. V. (2014). Involuntary movement during haptics-enabled robotic rehabilitation: Analysis and control design. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3561-3566). [6943060] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943060