Robot Assisted Standing-Up

The paper presents a novel control approach for the robot-assisted motion augmentation of disabled subjects during the standing-up manoeuvre. The main goal of the proposal is to integrate the voluntary activity of a person in the control scheme of the rehabilitation robot. The algorithm determines the supportive force to be tracked by a robot force controller. The basic idea behind the calculation of supportive force is to quantify the deficit in the dynamic equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in a simulation environment. The simulation results proved the adequate and robust performance of “patient-driven” robotassisted standing-up training. In addition, the possibility of varying the training conditions with different degrees of the subject’s initiative is demonstrated. © 2006 IPEM. Published by Elsevier Ltd. All rights reserved.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Roman Kamnik, Tadej Bajd
• Keywords: ICRA 2000, Robot Force Controller, Robot-assisted Motion Augmentation, Robotics, Supportive Force