title: Control system design of a 3-DOF upper limbs rehabilitation robot.
abstract: This paper presents the control system design of a rehabilitation and training robot for the upper limbs. Based on a hierarchical structure, this control system allows the execution of sequence of switching control laws (position, force, impedance and force/impedance) corresponding to the required training configuration. A model-based nonlinear controller is used to impose the desired environment to the patient's arm. The knowledge of robot kinematics and dynamics is thus necessary to ensure haptic transparency and patient safety. The identification process of robot dynamics is emphasised and experimental identification results are given for the designed robot. The paper also presents a particular rehabilitation mode named Active-Assisted. Simulation results of this rehabilitation mode illustrate the potentialities of the overall control scheme, which can also be applied to other rehabilitation robots.
authors: Centre de Recherche en Sciences et Technologies de l'Information et de la Communication, Université de Reims Champagne-Ardenne, Reims Cedex 2, France.
authors: Alexandre
authors: A
authors: Denève
authors: Saïd
authors: S
authors: Moughamir
authors: Lissan
authors: L
authors: Afilal
authors: Janan
authors: J
authors: Zaytoon
mesh_terms: D004867:Equipment Design; D005602:France; D006801:Humans; D008328:Man-Machine Systems; D015233:Models, Statistical; D012046:Rehabilitation / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D034941:Upper Extremity