HELIOS: The human machine interface for MARSE robot

Ferrer, S. B.; Ochoa-Luna, Cristóbal; Rahman, Mohammad Habibur; Saad, Maarouf; Archambault, P

doi:10.1109/hsi.2013.6577811

Cited by 6 publications

(6 citation statements)

References 11 publications

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“…The Admin profile is responsible for managing the database of the patient (such Add/Edit/Delete a patient) and has access to the list of all patients and information concerning their rehabilitation sessions. 31 Table IV. Controller parameters.…”

Section: Experiments Setupmentioning

confidence: 99%

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Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties

Brahmi¹,

Saad²,

Ochoa-Luna

et al. 2018

Robotica

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SUMMARYThis paper investigates the passive and active control strategies to provide a physical assistance and rehabilitation by a 7-DOF exoskeleton robot with nonlinear uncertain dynamics and unknown bounded external disturbances due to the robot user's physiological characteristics. An Integral backstepping controller incorporated with Time Delay Estimation (BITDE) is used, which permits the exoskeleton robot to achieve the desired performance of working under the mentioned uncertainties constraints. Time Delay Estimation (TDE) is employed to estimate the nonlinear uncertain dynamics of the robot and the unknown disturbances. To overcome the limitation of the time delay error inherent of the TDE approach, a recursive algorithm is used to further reduce its effect. The integral action is employed to decrease the impact of the unmodeled dynamics. Besides, the Damped Least Square method is introduced to estimate the desired movement intention of the subject with the objective to provide active rehabilitation. The controller scheme is to ensure that the robot system performs passive and active rehabilitation exercises with a high level of tracking accuracy and robustness, despite the unknown dynamics of the exoskeleton robot and the presence of unknown bounded disturbances. The design, stability, and convergence analysis are formulated and proven based on the Lyapunov–Krasovskii functional theory. Experimental results with healthy subjects, using a virtual environment, show the feasibility, and ease of implementation of the control scheme. Its robustness and flexibility to deal with parameter variations due to the unknown external disturbances are also shown.

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Section: Experiments Setupmentioning

confidence: 99%

“…Besides, the proposed control is evaluated with healthy subjects using the virtual environment as an interface. 31 This latter is a highly attractive tool, contributing numerous benefits. It authorized the creation of immersive and interactive scenes, where the oriented task can be introduced in the form of earnest games.…”

Section: Introductionmentioning

confidence: 99%

Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties

Brahmi¹,

Saad²,

Ochoa-Luna

et al. 2018

Robotica

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show abstract

“…The proposed control is evaluated experimentally with healthy subjects using a virtual environment (VE). 37 This VE is a very attractive tool bringing many benefits. 38 It allows the creation of immersive and interactive scenes where the oriented task can be introduced in the form of serious games.…”

Section: Main Contributionmentioning

confidence: 99%

“…star/stop the execution of the task). 37 The choice of these protocols is based on reliability and the speed of transmission of data for each one. Our platform is divided into two profiles: user profile and admin profile.…”

Section: Experiments Setupmentioning

confidence: 99%

“…8,26 The robot system is implemented with a virtual interface in which the subject and the therapist can follow the motion of the rehabilitation tasks. 37 Virtual reality is a software environment created to simulate the subject and allow him to perform different physical therapy exercises. This virtual interface can also provide task-oriented activities in task space, Cartesian space, and free motion.…”

Section: Characterization Kinematics and Dynamics Of Ets-marse Robotmentioning

confidence: 99%

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Compliant control for wearable exoskeleton robot based on human inverse kinematics

Brahmi

Saad

Brahmi

et al. 2018

International Journal of Advanced Robotic Systems

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Rehabilitation robots are a new technology dedicated to the physiotherapy and assistance motion and has aroused great interest in the scientific community. These kinds of robots have shown a high potential in limiting the patient’s disability, increasing its functional movements and helping him/her in daily living activities. This technology is still an emerging area and suffers from many challenges like compliance control and human–robot collaboration. The main challenge addressed in this research is to ensure that the exoskeleton robot provides an appropriate compliance control that allows it to interact perfectly with humans. This article investigates a new compliant control based on a second-order sliding mode with adaptive-gain incorporating time delay estimation. The control uses human inverse kinematics to complete active rehabilitation protocols for an exoskeleton robot with unknown dynamics and unforeseen disturbances. The stability analysis is formulated and demonstrated based on Lyapunov function. An experimental physiotherapy session with three healthy subjects was set up to test the effectiveness of the proposed control, using virtual reality environment.

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Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation

et al. 2020

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HELIOS: The human machine interface for MARSE robot

Cited by 6 publications

References 11 publications

Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties

Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties

Compliant control for wearable exoskeleton robot based on human inverse kinematics

Development and Control of an Upper Extremity Exoskeleton Robot for Rehabilitation

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