TY - GEN
T1 - Towards recognition of control variables for an Exoskeleton
AU - Papageorgiou, Xanthi
AU - McIntyre, Joe
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - In this paper we present a methodology to drive the end effector of a robotic manipulator, to which is attached a human hand, in order to follow the human's intention of movement. This set-up is inspired from a Neuro-Robotics scenario in order to develop systems for restoring motor functionalities in injured and disabled people. Three typical tasks are considered, namely the robot not to interfere with the human's motion, to assist a person with limited motion capabilities, and finally to be used from the subjects for rehabilitation reasons. The proposed controllers utilize a force control in two different ways, with inner position loop and with inner velocity loop. The derived controllers attempt to incorporate neuroscientific models results. Also, stability and robust analysis is presented. The properties of the proposed methodology are verified through non-trivial computer simulations.
AB - In this paper we present a methodology to drive the end effector of a robotic manipulator, to which is attached a human hand, in order to follow the human's intention of movement. This set-up is inspired from a Neuro-Robotics scenario in order to develop systems for restoring motor functionalities in injured and disabled people. Three typical tasks are considered, namely the robot not to interfere with the human's motion, to assist a person with limited motion capabilities, and finally to be used from the subjects for rehabilitation reasons. The proposed controllers utilize a force control in two different ways, with inner position loop and with inner velocity loop. The derived controllers attempt to incorporate neuroscientific models results. Also, stability and robust analysis is presented. The properties of the proposed methodology are verified through non-trivial computer simulations.
UR - http://www.scopus.com/inward/record.url?scp=51849142626&partnerID=8YFLogxK
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U2 - 10.1109/ISIC.2006.285557
DO - 10.1109/ISIC.2006.285557
M3 - Conference contribution
AN - SCOPUS:51849142626
SN - 0780397983
SN - 9780780397989
T3 - IEEE International Symposium on Intelligent Control - Proceedings
SP - 3053
EP - 3058
BT - Proceedings of the 2006 IEEE International Symposium on Intelligent Control, ISIC
T2 - Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Y2 - 4 October 2006 through 6 October 2006
ER -