Hybrid Force/Impedance Control for the Robotized Rehabilitation of the Upper Limbs
| Authors: | Moughamir Said, University of Reims, France
Deneve Alexandre, University of Reims, France
Zaytoon Janan, University of Reims, France
Afilal Lissan, University of Reims, France |
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| Topic: | 8.2 Modelling & Control of Biomedical Systems |
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| Session: | Biomedical Engineering / Biomedical Signal Processing I |
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| Keywords: | Biomedical systems, force/position duality, hybrid control, man/machine interaction |
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Abstract
This paper presents the architecture and the control hierarchy of a 3 degrees-of-freedom robot destined for the rehabilitation of the upper limbs. A hybrid control law, using a weighted sum of force and impedance, is proposed to implement the Active-Assisted rehabilitation mode. Parameters’ tuning of the resulting active force feedback controller is based on a compromise between user’s safety and dynamic performances. Some results illustrate the performances of the developed controller.
