title: Stiffness-based tuning of an adaptive impedance controller for robot-assisted rehabilitation of upper limbs.
abstract: In this paper, the tuning procedure of an adaptive impedance control approach, for upper limb rehabilitation therapies assisted by robots, is presented. The main feature of the proposed approach is a custom tuning of the impedance parameters for the controller, based on the stiffness estimation of users (patients), thus achieving a suitable robot-assisted rehabilitation system according with the different conditions of user's mobility. A set of simulation results are presented, in order to verify the suitable performance of the proposed approach in human-robot interaction tasks.
authors.forename: Berenice
authors.initials: B
authors.lastname: Maldonado
authors.forename: Marco
authors.initials: M
authors.lastname: Mendoza
authors.forename: Isela
authors.initials: I
authors.lastname: Bonilla
authors.forename: Iván
authors.initials: I
authors.lastname: Reyna-Gutiérrez
mesh_terms: D000465:Algorithms; D001132:Arm / Q000503:physiopathology; D017097:Electric Impedance; D006801:Humans; D000069550:Machine Learning; D011596:Psychomotor Disorders / Q000534:rehabilitation*; D012371:Robotics