title: Human voluntary activity integration in the control of a standing-up rehabilitation robot: a simulation study.
abstract: The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of "patient-driven" robot-assisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject's initiative is demonstrated.
authors.affiliation: University of Ljubljana, Faculty of Electrical Engineering, Trzaska 25, 1001 Ljubljana, Slovenia. roman.kamnik@robo.fe.uni-lj.si
authors.forename: Roman
authors.initials: R
authors.lastname: Kamnik
authors.forename: Tadej
authors.initials: T
authors.lastname: Bajd
mesh_terms: D000328:Adult; D000465:Algorithms; D032763:Behavior Control / Q000379:methods; D003198:Computer Simulation; D017076:Computer-Aided Design; D006233:Persons with Disabilities / Q000534:rehabilitation; D019544:Equipment Failure Analysis; D005246:Feedback; D005260:Female; D006801:Humans; D035002:Lower Extremity / Q000503:physiopathology; D008328:Man-Machine Systems; D009038:Motion; D015915:Motion Therapy, Continuous Passive / Q000295:instrumentation*; D009043:Motor Activity; D004856:Postural Balance; D011597:Psychomotor Performance; D012371:Robotics / Q000295:instrumentation; D012656:Self-Help Devices; D014584:User-Computer Interface