This paper describes the recent development of optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint. Different shapes of mechanical structure of sensor as well as optical measurement approaches are given. The results of calculation of stress and tangential displacement using...

Stroke is a leading cause of disability worldwide. In this paper, a novel robot‐assisted rehabilitation system based on motor imagery electroencephalography (EEG) is developed for regular training of neurological rehabilitation for upper limb stroke patients. Firstly, three‐dimensional animation was used to guide the patient image the upper limb movement and...

This paper describes the recent development of optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint. Different shapes of mechanical structure of sensor as well as optical measurement approaches are given. The results of calculation of stress and tangential displacement using...

Impedance control is a well-established framework to manage the interaction of the end effector of a robot manipulator with the environment. For the execution of six-degree-offreedom (DOF) tasks, both the end-effector position and orientation must be handled. The operational space control schemes typically utilize minimal representations of end-effector orientation; however, such representation...

A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mo...

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control appro...

Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employe...

Robot-assisted rehabilitation, which can provide repetitive, intensive and high-precision physics training, has a positive influence on motor function recovery of stroke patients. Current robots need to be more intelligent reliable in clinical practice. Machine learning algorithms (MLAs) are able learn from data predict future unknown conditions, is benefit improve the effectiveness robot-assis...

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical humanrobot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that—despite provisions for the h...