Development of an intelligent controller for robot-aided assessment and treatment guidance in physical medicine and rehabilitation

Aktan, Mehmet Emin; Akdoğan, Erhan

doi:10.3906/elk-2007-24

Cited by 2 publications

(1 citation statement)

References 21 publications

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“…In another research, a five DOF lightweight upper limb rehabilitation robot was controlled by the impedance control approach by Wu et al 14 Yet another adaptive impedance control for lower limb rehabilitation robots was investigated by Brahmi et al 15 Wendong et al 16 proposed an electrically actuated upper limb rehabilitation robot based on HRI for the prediction of human motion intent rather than control of interaction force/torque. Aktan and Akdoğan and Erdoğan 17 studied different types of controllers (i.e. force, impedance control etc.)…”

Section: Introductionmentioning

confidence: 99%

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

Dağdelen,

Sarigeçili,

Özbek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this study, an intelligent adaptive interaction torque control for a pneumatically actuated forearm rehabilitation robot has been proposed. The main objective is to provide a haptic environment that ensures stable interaction torque fields at changing levels. To achieve this goal, a cascade fuzzy adaptive controller, that is specifically tailored to handle varying levels of interaction torque and ensure stability throughout the rehabilitation process, has been designed. To improve the efficiency of the controller, non-linear friction torque identification of the pneumatic actuator based on changing operating conditions has been conducted. Parallel to this, a user motion intention detection algorithm has been designed to provide compliant, safe and suitable human-robot interactions. The disturbance cases have been considered to make the system robust to unknown conditions. Stability analysis has been performed, specifically focusing on the boundary-input boundary-output (BIBO) stability conditions. In order to demonstrate the superior performance of the proposed cascade fuzzy adaptive algorithm, a cascade PID algorithm has also been meticulously designed for comparison. Numerous experimental validation tests involving a healthy user were conducted in a Hardware-in-the-Loop environment, focusing on torque trajectory tracking performance. The proposed control technique exhibited improved convergence dynamics compared to the cascade PID algorithm, yielding mean absolute error levels of 0.0218 Nm and 0.099 Nm for target interaction torque under disturbance-free and disturbed conditions, respectively.

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Section: Introductionmentioning

confidence: 99%

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

Dağdelen,

Sarigeçili,

Özbek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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IoT Based Smart Physiotherapy System: A Review

Saleem¹,

Zafar²,

Raza³

et al. 2022

J. Engg. Res. & Sci.

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During recent years, the increase in the ageing population, the ubiquity of chronic diseases in the world, and the development in technologies have resulted in high demand for efficient healthcare systems. Physical anomalies mostly caused by injury, disease, and ageing lead to limit the regular ability of people to move and function. Primary health care providers often refer patients to conservative regular exercises as the first stage of the remedial process. The exercises operated under trained supervision are effective, but it is not feasible to supervise each patient under the growing number of such cases. Smart Physiotherapy exercise is one of the most beneficial and need of the time. The proper and systematic execution of recommended exercises is required for effective home-based physiotherapy. This study aims at exploring recent investigations performed by researchers in this discipline and subsequently, provide a ground for new researchers to improve or bring innovation in the approach. Electronic databases were searched between 2015 and 2020 in addition the reference lists of the articles that meet the criteria were also searched. The outcome of this study indicates that there is no prolific application that automatically monitors and guides the patients in performing the right and systematic exercises advised by the physiotherapist.

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Development of an intelligent controller for robot-aided assessment and treatment guidance in physical medicine and rehabilitation

Cited by 2 publications

References 21 publications

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

IoT Based Smart Physiotherapy System: A Review

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