A rehabilitation robot with force-position hybrid fuzzy controller: Hybrid fuzzy control of rehabilitation robot

Ming Shaung Ju, Chou Ching K. Lin, Dong Huang Lin, Ing Shiou Hwang, Shu Min Chen

Research output: Contribution to journalArticle

160 Citations (Scopus)

Abstract

The goal of this study was to design a robot system for assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The robot should be able to guide patient's wrist to move along planned linear or circular trajectories. A hybrid position/force controller incorporating fuzzy logic was developed to constrain the movement in the desired direction and to maintain a constant force along the moving direction. The controller was stable in the application range of movements and forces. Offline analyses of data were used to quantitatively assess the progress of rehabilitation. The results show that the robot could guide the upper limbs of subjects in linear and circular movements under predefined external force levels and apply a desired force along the tangential direction of the movements.

Original languageEnglish
Pages (from-to)349-358
Number of pages10
JournalIEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume13
Issue number3
DOIs
Publication statusPublished - 2005 Sep 1

All Science Journal Classification (ASJC) codes

  • Internal Medicine
  • Neuroscience(all)
  • Biomedical Engineering

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