WOS: 000328072000001 ; In this study, an exoskeleton type robot-assisted rehabilitation system, called RehabRoby, is developed for rehabilitation purposes. A control architecture, which contains a high-level controller and a low-level controller, is designed so that RehabRoby can complete the given rehabilitation task in a desired and safe manner. A hybrid system modelling technique is used for the high-level controller. An admittance control with an inner robust position control loop is used for the low-level control of the RehabRoby. Real-time experiments are performed to evaluate the control architecture of the robot-assisted rehabilitation system, RehabRoby. Furthermore, the usability of RehabRoby is evaluated. ; Support Programme for Scientific and Technological Research ProjectsTurkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [TUBITAK-3501, 108E190] ; We gratefully acknowledge the help of Prof. Serap Inal and Prof. Sule Badilli Demirbas, who are in the Physiotherapy and Rehabilitation Department of the Faculty of Health Sciences Yeditepe University, for their valuable feedback concerning the task design. The study was supported by the Support Programme for Scientific and Technological Research Projects (TUBITAK-3501) under Grant 108E190.
Upper-Extremity Rehabilitation Robot RehabRoby: Methodology, Design, Usability and Validation Regular Paper
2013-01-01
10
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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