publication . Part of book or chapter of book . 2007

Bio-Inspired Interaction Control of Robotic Machines for Motor Therapy

Loredana Zollo; Domenico Formica; Eugenio Guglielmelli;
Open Access English
  • Published: 01 Aug 2007
  • Publisher: IntechOpen
In this chapter basic criteria for the design and implementation of interaction control of robotic machines for motor therapy have been briefly introduced and two bio-inspired compliance control laws developed by the authors to address requirements coming from this specific application field have been presented. The two control laws are named the coactivation-based compliance control in the joint space and the torque-dependent compliance control in the joint space, respectively. They try to overcome limitations of the traditional interaction control by taking inspiration from biological motor control, with particular attention to the mechanisms of visco-elastic ...
Persistent Identifiers
free text keywords: Functional requirement, Robot, Physical interaction, Impedance control, Interaction control, Industrial robotics, Computer science, Human–computer interaction, Less invasive, Functional specification
Download fromView all 2 versions
Part of book or chapter of book
Provider: UnpayWall
Part of book or chapter of book . 2021
Provider: InTech
Part of book or chapter of book . 2007
Provider: Crossref
35 references, page 1 of 3

Colombo, C., Joerg, M., Schreier, R., & Dietz, V. (2000). Treadmill Training of Paraplegic Patients Using a Robotic Orthosis, J. Rehabil. Res. Dev., Vol. 37, pp. 693-700.

Colombo, G. (2004). Treadmill Training With the Robotic Orthosis 'Lokomat': New Technical Features and Results From Multicenter Trial in Chronic Spinal Cord Injury, Int. J. Rehabil. Res., Vol. 27, pp. 92-93.

Costa, N., Brown, M., & Caldwell, D. G. (2004). A Lower Body Exoskeletal Rehabilitation System, 3rd IARP-IEEE/RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, Manchester, England.

Fasoli, S. E., Krebs, H. I., Stein, J., Frontera, W. R., & Hogan, N. (2003) Effect of Robotic Therapy on Motor Impairment and Recovery in Chronic Stroke, Arch. Phys. Med. Rehabil., Vol. 84, pp. 477-482.

Formica, D., Zollo, L., & Guglielmelli, E. (2005) Torque-Dependent Compliance Control in the Joint Space of a Cartesian Robotic Machine for Motor Therapy, 9th IEEE International Conference on Rehabilitation Robotics, Chicago, pp. 341-344. [OpenAIRE]

Formica, D., Zollo L., & Guglielmelli, E. (2006). Torque-Dependent Compliance Control in the Joint Space for Robot-Mediated Motor Therapy, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 128, pp. 152- 158.

Gomi, H., & Kawato, M. (1997). Human arm stiffness and equilibrium-point trajectory during multi-joint movement, Biological Cybernetics, Vol. 76, pp. 163-171.

Gomi, H., & Osu, R. (1998). Task-dependent viscoelasticity of human multijoint arm and its spatial characteristics for interaction with environments, Journal of Neuroscience, Vol. 18, pp. 8965-8978. [OpenAIRE]

Gomi, H. (1998) Anisotropic stiffness reduction during constrained multijoint arm movement, 20th Annual International of the IEEE Engineering in Medicine and Biology Society, Vol. 20, No. 5, pp. 2336-2337.

Gorinevsky, D. M., Formalsky, A. M., & Schneider, A. Yu. (1997). Force Control of Robotics Systems, CRC Press, Boca Raton.

Hogan, N. (1985). Impedance control: an approach to manipulation, Part I, II, II, ASME Journal of Dynamic System, Measurement, and Control, Vol. 107, pp. 1-24.

Hogan, N., Krebs, H. I., Charnnarong, J., Srikrishna, P., & Sharon, A. (1992). MIT-MANUS: A Workstation for Manual Therapy and Training I, IEEE International Workshop on Robot and Human Communication, Tokyo.

Katayama, M., & Kawato, M. (1993). Virtual trajectory and stiffness ellipse during multijoint arm movement predicted by neural inverse models, Biological Cybernetics, Vol. 69, pp. 353-362.

Katayama, M., Inoue, S., & Kawato, M. (1998). A strategy of motor learning using adjustable parameters for arm movement, International Conference of the IEEE Engineering in Medicine and Biology Society, Vol. 20, pp. 2370-2373.

Kazerooni, H., Houpt, P. K., & Sheridan, T. B. (1986). Robust Compliant Motion for Manipulators. Part 1. The Fundamental Concepts of Compliant Motion. Part 2. Design Methods, IEEE J. Rob. Autom., Vol. 2, pp. 83-105.

35 references, page 1 of 3
Any information missing or wrong?Report an Issue