TY - JOUR
T1 - A rehabilitation robot with force-position hybrid fuzzy controller
T2 - Hybrid fuzzy control of rehabilitation robot
AU - Ju, Ming Shaung
AU - Lin, Chou Ching K.
AU - Lin, Dong Huang
AU - Hwang, Ing Shiou
AU - Chen, Shu Min
N1 - Funding Information:
Manuscript received January 9, 2003; revised August 17, 2003 and August 25, 2004; accepted: December 28, 2004. This work was supported in part by the Republic of China National Science Council under Contract NSC 89-214-B-006 –057 and Contract NSC 87-2314-B-006-125-M08. M.-S. Ju and D.-H. Lin are with the Department of Mechanical Engineering, National Cheng Kung University, Tainan 70101, Taiwan, R.O.C. (e-mail: [email protected]). C.-C. K. Lin is with the Department of Neurology, National Cheng Kung University Hospital, Tainan 70101, Taiwan, R.O.C. I.-S. Hwang is with the Department of Rehabilitation, National Cheng Kung University Hospital, Tainan 70101, Taiwan, R.O.C. S.-M. Chen is with the Department of Physical Therapy, National Cheng Kung University Hospital, Tainan 70101, Taiwan, R.O.C. Digital Object Identifier 10.1109/TNSRE.2005.847354
PY - 2005/9
Y1 - 2005/9
N2 - 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.
AB - 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.
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U2 - 10.1109/TNSRE.2005.847354
DO - 10.1109/TNSRE.2005.847354
M3 - Article
C2 - 16200758
AN - SCOPUS:26244435114
SN - 1534-4320
VL - 13
SP - 349
EP - 358
JO - IEEE Transactions on Neural Systems and Rehabilitation Engineering
JF - IEEE Transactions on Neural Systems and Rehabilitation Engineering
IS - 3
ER -