- Turkish Journal of Electrical Engineering and Computer Science
- Vol: 19 Issue: 5
- A multi-lateral rehabilitation system
A multi-lateral rehabilitation system
Authors : Aykut Cihan Satici, Ahmetcan Erdoğan, Volkan Patoğlu
Pages : 715-723
View : 10 | Download : 1
Publication Date : 9999-12-31
Article Type : Makaleler
Abstract :This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Different control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The effectiveness of the controller and regulation of the dominance for each agent is experimentally verified.Keywords : Robot-assisted rehabilitation, physical therapy for forearm and wrist, multi-lateral control architecture, wrist exoskeleton