| Passive velocity field control of a forearm-wrist rehabilitation robot. | |
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MedLine Citation:
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PMID: 22275634 Owner: NLM Status: In-Data-Review |
Abstract/OtherAbstract:
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This paper presents design, implementation and control of a 3RPS-R exoskeleton, specifically built to impose targeted therapeutic exercises to forearm and wrist. Design of the exoskeleton features enhanced ergonomy, enlarged workspace and optimized device performance when compared to previous versions of the device. Passive velocity field control (PVFC) is implemented at the task space of the manipulator to provide assistance to the patients, such that the exoskeleton follows a desired velocity field asymptotically while maintaining passivity with respect to external applied torque inputs. PVFC is augmented with virtual tunnels and resulting control architecture is integrated into a virtual flight simulator with force-feedback. Experimental results are presented indicating the applicability and effectiveness of using PVFC on 3RPS-R exoskeleton to deliver therapeutic movement exercises. |
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Authors:
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A Erdogan; A C Satici; V Patoglu |
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Publication Detail:
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Type: Journal Article |
Journal Detail:
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Title: IEEE ... International Conference on Rehabilitation Robotics : [proceedings] Volume: 2011 ISSN: 1945-7901 ISO Abbreviation: IEEE Int Conf Rehabil Robot Publication Date: 2011 Jun |
Date Detail:
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Created Date: 2012-01-25 Completed Date: - Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101260913 Medline TA: IEEE Int Conf Rehabil Robot Country: United States |
Other Details:
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Languages: eng Pagination: 1-8 Citation Subset: IM |
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From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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