A high-level controller for robot-assisted rehabilitation.
The goal of our research is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite state automaton. Extensive simulations are performed using the supervisory controller for a rehabilitation task. The results demonstrate the feasibility of the proposed supervisory controller.
Erol
Duygun
D
Dept. of Electr. & Comput. Sci., Vanderbilt Univ., Nashville, TN, USA. duygun.erol@vanderbilt.edu
Sarkar
Nilanjan
N
Halder
Bibhrajit
B
D001698:Biomedical Engineering; D003198:Computer Simulation; D006801:Humans; D008328:Man-Machine Systems; D016571:Neural Networks, Computer; D012371:Robotics / Q000295:instrumentation* / Q000706:statistics & numerical data*; D000071939:Stroke Rehabilitation