Supervisory controller design for a robot-assisted reach-to-grasp rehabilitation task.
The goal of this project is to develop a high-level controller to provide reference trajectories automatically to the low-level controller of a rehabilitation robotic device in reach-to-grasp task. The high-level controller, which is the supervisory controller, is an event driven, asynchronous discrete event system (DES), described by a finite automaton. Extensive simulations are performed using the supervisory controller for a reach-to-grasp rehabilitation task. The results demonstrate the feasibility and convenience of the proposed supervisory controller.
Wang
Furui
F
Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA. furui.wang@vanderbilt.edu
Sarkar
Nilanjan
N
D000465:Algorithms; D001331:Automation; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D005246:Feedback; D017143:Fuzzy Logic; D006801:Humans; D008328:Man-Machine Systems; D015233:Models, Statistical; D009069:Movement Disorders / Q000503:physiopathology* / Q000534:rehabilitation*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D013314:Stress, Mechanical; D013813:Therapy, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*