Design and control of a three degree of freedom pneumatic physiotherapy robot

Robotica

Volumn 21, Issue 6, 2003, Pages 589-604

  Richardson, R ^a   Brown, M ^b   Bhakta, B ^c   Levesley, M C ^a  

^a UNIVERSITY OF MANCHESTER   (United Kingdom)

^b ATKINS   (United Kingdom)

^c UNIVERSITY OF LEEDS   (United Kingdom)

Author keywords

Impedance control; Pneumatic cylinders; Robotic physiotherapy

Indexed keywords

CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); ELECTRIC IMPEDANCE; ELECTRIC VARIABLES CONTROL; JOINTS (ANATOMY); MANIPULATORS; PHYSICAL THERAPY; PNEUMATIC CONTROL EQUIPMENT; POSITION CONTROL; TORQUE;

PNEUMATIC CYLINDERS; PNEUMATIC PHYSIOTHERAPY ROBOT; POSITION-BASED IMPEDANCE CONTROL;

ROBOTICS;

EID: 0344550354     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574703005320     Document Type: Article

References (28)

1. J.M. Bamford, P. Sandercock, M. Dennis et al., "A prospective study of acute cerebrovascular disease in the community: the Oxfordshire Community Stroke Project 1981-1986: Methodology, demography, and incident cases of first ever stroke", J. Neurol. Neurosurg. Psychiatry 51, 1373-1380 (1988).
2. G. Kwakkel, R.C. Wagenaar, J.W.R. Twisk et al., "Intensity of leg and arm training after primary middle cerebral artery stroke: a randomised controlled trial", Lancet 354(9174), 191-196 (1999).
3. A. Sunderland, D.J. Tinson, E.L. Bradley et al., "Enhanced physical therapy improves recovery of arm function after stroke. A randomised controlled trial", J. Neurol. Neurosurg. Psychiatry 55(7), 530-5 (1992).
4. P. Pound, C. Sabin and S. Ebrahim, "Observing the process of care: a stroke unit, elderly care unit and general medical ward compared", Age and Ageing 28, 433-440 (1999).
5. J.A. Cozens, "Robotic assistance of an active upper limb exercise in neurologically impaired patients", IEEE Trans. Rehabil. Eng. 7(2), 254-256 (1999).
6. H. Krebs, N. Hogan, M. Aisen and B. Volpe, "Robot-aided Neurorehabilitation", IEEE Transaction on Rehabilitation Engineering 6(1), 75-87 (1998).
7. M.A. Buckley, A. Yardley, R.G.S. Platts and S.S. Marchese, MULOS system prototype (Web page. http://www.ncl.ac.uk/crest/Prototype.htm#specification).
8. K. Nagai, I. Nakanishi and H. Hanafusa, "Development of an 8 DOF Robotic orthosis for assisting human upper limb motion", Proceedings of the IEEE International Conference on Robotics and Automation Belgium (1998) pp. 3486-3491.
9. M. H. Raibert and J. J. Craig, "Hybrid position/force control of manipulators", ASME Journal of Dynamic Systems, Measurement and Control 103, 126-133 (1981).
10. S. Chiavervini and L. Sciavicco, "The parallel approach to force/position control of robotic manipulators", IEEE Transactions on Robotics and Automation 9, No. 4, 361-373 (August, 1993).
11. N. Hogan, "Impedance control: An approach to manipulation part I, II, III", Journal of Dynamic Systems, Measurements and Control 107(1), 1-24 (1985).
12. E. Richer and Y. Hurmuzlu. "High performance pneumatic force actuator system, Parts I & II", Transactions of ASME 122, 416-425 (Sept., 2000).
13. J. Wang and Y. Y. Lin-Chen, "Modelling study, validation and robust tracking control of pneumatic cylinder actuator systems", UKACC International Conference of Control 2000, University of Cambridge (4-7 Sept., 2000).
14. R. Richardson, A. R. Plummer and M. D. Brown, "Self-tuning control of a low friction pneumatic actuator under the influence of gravity", IEEE Transactions of Control Systems Technology 9, No. 2, 330-334 (March, 2001).
15. B. W. McDonell and J. E. Bobrow, "Modelling, identification and control of a pneumatically actuated robot", Proceedings of the IEEE International Conference on Robotics and Automation (April, 1997) pp. 124-129.
16. P. Gorce and M. Guihard, "Joint impedance pneumatic control for multilink systems", ASME Journal of Dynamic Systems, Measurement and Control 121, 293-297 (June, 1999).
17. B. Heinrichs, N. Sepehri and A. B. Thorton-Trump, Position-based impedance control of an industrial hydraulic manipulator", IEEE Control Systems Magazine (special issue on robotics and automation) 17, 46-52 (1997).
18. R. Richardson, M. D. Brown and A. R. Plummer, "Pneumatic impedance control for physiotherapy", Proceedings of the EUREL Int. Conf. Robotics (March, 2000).
19. R. Richardson, M. E. Austin and A. R. Plummer, "Development of a physiotherapy robot", Proceedings of the International Biomechatronics Workshop, Enshede (19-21 April, 1999).
20. E. J. McCormick, Human Factors Engineering (McGraw-Hill, Third edition, 1970).
21. S. Liu and J. E. Bobrow, "An analysis of a pnuematic servo system and it's application to a computer-controlled robot", Transactions of ASME Journal of Dynamic Systems Measurements and Control 110, 228-235 (Sept., 1988).
22. G. Kim, D. Kang and S. Rhee, "Design and fabrication of a six-component force/moment sensor. Sensors and actuators", Sensors and Actuators (A), physical 77, 209-220 (1999).
23. L. Chao and C. Yin, "The six-component force sensor for measuring the loading of the feet in locomotion", Materials and Design 20, 237-244 (1999).
24. M. J. Fagan, Finite Element Analysis (Addison Wesley Longman, 1992, ISBN 0-582-02247-9).
25. R. C. Richardson, "Control and actuation for robotic physio-therapy", PhD Thesis (University of Leeds, UK, 2001).
26. W. H. Press, B. P. Flannery, S. Teukolosky and W. T. Verttering, Numerical Recipes in C, the Art of Scientific Computing (Cambridge University Press, 1991, ISBN 0-521-35465).
27. K. Astrom and T. Hagglund, PID Controllers: Theory, Design and Tuning (Instrument Society of America, 1994, ISBN 1-55617-516-7).
28. N. Hogan, "On the stability of manipulators performing contact tasks", IEEE Journal of Robotics and Automation 4, 677-686 (1988).