The recovery treatment of motor dysfunction plays a crucial role in rehabilitation therapy. Rehabilitation robots are partially or fully replacing therapists assisting patients exercise by advantage robot technologies. However, the training system is not yet intelligent enough to provide suitable modes based on intentions with different abilities. In this paper, dual-modal hybrid self-switching...

The aim of this project is to develop a rehabilitation robot intended for use in a non-specialised or domestic setting. Robots have been shown to have a positive effect on limb rehabilitation and developing rehabilitation robots for use outside of specialist rehabilitation centres could be beneficial in terms of access to, intensity and cost of treatment. The device is intended for the rehabili...

xoskeleton robots are currently being developed in many research lab’s for the rehabilitation of patients suffering from injuries to the nervous system. A multitude of exoskeletons for interaction with the human limb are proposed for rehabilitation training, ranging from external, end-point based devices to wearable full limb exoskeletons [1]. Their ability to smoothly interact with the human s...

The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the hysteresis loop. An impedance controller for ...

Previous studies have proposed methods for admittance and impedance control for a finger-arm robot using the manipulability of the finger. Based on the previous theories, the authors have proposed an admittance control for a multifinger arm robot using the manipulability of the fingers in this study. Two 3-DOF fingers are attached to the end-effector of a 6DOF arm to configure a multi-finger ar...

This paper proposes the design of a rehabilitation robot for upper limb based on physiological electrical signals. The system uses surface electromyography (sEMG) and electroencephalography (EEG) signals to control robot's movements. has modular structure consisting mechanical hand, system, data acquisition system. STM32 microcontroller Bluetooth module real-time transmission control. collects ...

Over the past decades, robotic technologies have advanced remarkably and have been proven to be successful, especially in the field of manufacturing. In manufacturing, conventional position-controlled robots perform simple repeated tasks in static environments. In recent years, there are increasing needs for robot systems in many areas that involve physical contacts with human-populated environ...

In this paper, a hierarchical control architecture incorporating a novel dual-arm impedance controller is proposed and experimentally evaluated in a valve turning setup. Proposed control architecture incorporates various control/interface modules to render a desired interaction performance in our intrinsically compliant humanoid robot, COMAN: the sensing module provides the manipulation module ...