Hybrid Adaptive Impedance and Admittance Control Based on the Sensorless Estimation of Interaction Joint Torque for Exoskeletons: A Case Study of an Upper Limb Rehabilitation Robot
Auwalu Muhammad Abdullahi,
Ado Haruna,
Ronnapee Chaichaowarat
Abstract:Physiotherapy is the treatment to recover a patient’s mobility and limb function after an injury, illness, or disability. Rehabilitation robots can be used to replace human physiotherapists. To ensure safety during robot physical therapy, the patient’s limb needs to be controlled to track a desired joint trajectory, and the torque due to interaction force/torque needs to be measured and regulated. Therefore, hybrid impedance and admittance with position control (HIPC) is required to track the trajectory and si… Show more
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