Towards a smooth human-robot interaction for rehabilitation robotic systems

Advanced Robotics

Volumn 23, Issue 12-13, 2009, Pages 1641-1662

  Barkana, Duygun Erol ^a   Sarkar, Nilanjan ^b  

^a YEDITEPE UNIVERSITY   (Turkey)

^b VANDERBILT UNIVERSITY   (United States)

Author keywords

Gain scheduling; Human arm parameter estimation; Robot assisted rehabilitation; Smooth interaction

Indexed keywords

ARTIFICIAL NEURAL NETWORK; CONTROL FRAMEWORK; CONTROL GAINS; GAIN SCHEDULING; GAIN SCHEDULING CONTROLLER; HUMAN ARM; HUMAN ARM PARAMETER ESTIMATION; HUMAN ROBOT INTERACTIONS; INTERACTION DYNAMICS; PROPORTIONAL-INTEGRAL; PUMA ROBOTS; REHABILITATION ROBOTIC SYSTEMS; REHABILITATION SYSTEM; REHABILITATION THERAPY; ROBOT-ASSISTED REHABILITATION; SMOOTH INTERACTION;

BACKPROPAGATION; CONTROLLERS; HUMAN COMPUTER INTERACTION; NEURAL NETWORKS; PARAMETER ESTIMATION; ROBOTS; SCHEDULING;

PATIENT REHABILITATION;

EID: 70349333856     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/016918609X12496339893931     Document Type: Article

References (39)

1. D. B. Matchar and P. W. Duncan, Cost of stroke, Stroke Clin. Updates 5, 9-12 (1994).
2. American Heart Association, Heart and Stroke Statistical Update. Available at: http://www. Americanheart.org/statistics/stroke.htm (2008).
3. E. Taub, G. Uswatte and R. Pidikiti, Constraint-induced movement therapy: a new family of techniques with broad application to physical rehabilitation - a clinical review, J. Rehabil. Res. Dev. 36, 237-251 (1999).
4. N. Tejima, Rehabilitation robotics: a review, Adv. Robotics 14, 551-564 (2001).
5. P. S. Lum, C. G. Burgar, H. F. M. Van der Loos, P. C. Shor, M. Majmundar and R. Yap, MIME robotic device for upper-limb neurorehabilitation in subacute stroke subjects: a follow-up study, J. Rehabil. Res. Dev. 43, 631-642 (2006).
6. L. E. Kahn, M. L. Zygman, W. Z. Rymer and D. J. Reinkensmeyer, Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study, J. Neuroeng. Rehabil. 3, 1-13 (2006).
7. H. I. Krebs, J. J. Palazzolo, L. Dipietro, M. Ferraro, J. Krol, K. Rannekleiv, B. T. Volpe and N. Hogan, Rehabilitation robotics: performance-based progressive robot-assisted therapy, Autonomous Robots 15, 7-20 (2003).
8. H. I. Krebs, M. Ferraro, S. P. Buerger, M. J. Newbery, A. Makiyama, M. Sandmann, D. Lynch, B. T. Volpe and N. Hogan, Rehabilitation robotics: pilot trial of a spatial extension for MIT-Manus, J. Neuroeng. Rehabil. 1, 1-15 (2004).
9. R. Loureiro, F. Amirabdollahian, M. Topping, B. Driessen and W. Harwin, Upper limb mediated stroke therapy -GENTLE/s approach, Autonomous Robots 15, 35-51 (2003).
10. M. Mihelj, T. Nef and R. Riener, A novel paradigm for patient-cooperative control of upper-limb rehabilitation robots, Adv. Robotics 21, 843-867 (2007).
11. T. Flash and N. Hogan, The coordination of arm movements: an experimentally confirmed mathematical model, J. Neurosci. 5, 1688-1703 (1985).
12. N. Hogan, Planning and execution of multijoint movements, Can. J. Physiol. Pharmacol. 66, 508-517 (1998).
13. B. Rohrer, S. Fasoli, H. I. Krebs, R. Hughes, B. Volpe, W. R. Frontera, J. Stein and N. Hogan, Movement smoothness changes during stroke recovery, J. Neurosci. 22, 8297-8304 (2002).
14. R. B. Stein, F.W. Cody and C. Capaday, The trajectory of human wristmovement, J. Neurophysiol. 59, 1814-1830 (1988).
15. D. Erol and N. Sarkar, Design and implementation of an assistive controller for rehabilitation robotic systems, Int. J. Adv. Robotic Syst. 4, 271-278 (2007).
16. L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators. McGraw-Hill, New York (1999).
17. J. M. Dolan, M. B. Friedman and M. L. Nagurka, Dynamic and loaded impedance components in the maintenance of human arm posture, IEEE Trans. Syst. Man Cybernet. 23, 698-709 (1993).
18. T. Flash and F. Mussa-Ivaldi, Human arm stiffness characteristics during the maintenance of posture, Exp. Brain Res. 82, 315-326 (1990).
19. H. Gomi, Y. Koike and M. Kawato, Human hand stiffness during discrete point-to-point multijoint movement, IEEE Eng. Med. Biol. Soc. 14, 1628-1629 (1992).
20. F. Mussa-Ivaldi, N. Hogan and E. Bizzi, Neural, mechanical, and geometric factors subserving arm posture in humans, J. Neurosci. 5, 2732-2743 (1985).
21. J. E. Speich, L. Shao and M. Goldfarb, Modeling the human hand as it interacts with a telemanipulation system, Mechatronics 15, 1127-1142 (2005).
22. M. M. Rahman, R. Ikeura and K. Mizutani, Control characteristics of two humans in cooperative task, in: Proc. IEEE Int. Conf. on Systems, Man and Cybernetics, Nashville, TN, Vol.2, pp. 1301-1306 (2000).
23. T. Tsuji, K. Goto, M. Moritani, M. Kaneko and P. Morasso, Spatial characteristics of human hand impedance in multi-joint arm movements, in: Proc. IEEE Int. Symp. on Intelligent Robots and Systems, Munich, pp. 423-430 (1994).
24. T. Tsumugiwa, R. Yokogawa and K. Hara, Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task, in: Proc. IEEE Int. Conf. on Robotic and Automation, Washington, DC, pp. 644-650 (2002). (Pubitemid 34916669)
25. P. L. Gribble, D. J. Ostry, V. Sanguineti and R. Laboissière, Are complex control signals required for human arm movement?, J. Neurophysiol. 79, 1409-1424 (1998).
26. R. Shadmehr, The Equilibrium Point Hypothesis for Control ofMovement. Biomedical Johns Hopkins University, Baltimore, MD (1998).
27. L. Ljung, System Identification Theory for the User, 2nd edn. Prentice Hall, Upper Saddle River, NJ (1999).
28. J. Wang, Q. P. He, S. J. Qin, C. A. Bode and M. A. Purdy, Recursive least squares estimation for run-to-run control with metrology delay and its application to STI etch process, IEEE Trans. Semicond. Manufact. 18, 309-319 (2005).
29. L. Ni and D. W. L. Wang, A human-to-human force-reflecting teleoperation system using fuzzy logic controller tuning, J. Intell. Robot Syst. 48, 209-224 (2007).
30. S. F. Graebe and A. Ahlèn, Bumpless transfer, in: The Control Handbook, W. S. Levine (Ed.), pp. 381-388. CRC Press, Boca Raton, FL (1995).
31. V. Mallapragada, D. Erol and N. Sarkar, A new method of force control for unknown environments, Int. J. Adv. Robotic Syst. 4, 313-322 (2007).
32. D. Erol and N. Sarkar, Intelligent control for robotic rehabilitation after stroke, J. Intell. Robotic Syst. 50, 341-360 (2007). (Pubitemid 350121710)
33. D. Erol and N. Sarkar, Coordinated control of assistive robotic devices for activities of daily living tasks, IEEE Trans. Neural Syst. Rehabil. Eng. 16, 278-285 (2008).
34. S. J. Milton and J. C. Arnold, Introduction to Probability and Statistics: Principles and Applications for Engineering and the Computing Sciences, 4th edn. McGraw-Hill, New York (2003).
35. P. M. H. Rack, Neural control of muscle length, in: Handbook of Physiology, Vol.2, Section 1, Motor Control, Part 1, J. M. Brookhart and V. B. Mountcastle (Eds), pp. 229-256. Physiological Society, Bethesda, MD (1981).
36. P. Dyhre-Poulsen, E. B. Simonsen and M. Voigt, Dynamic control of muscle stiffness and H reflex modulation during hopping and jumping in man, J. Physiol. 437, 287-304 (1991).
37. M. L. Latash and V. M. Zatsiorsky, Joint stiffness: myth or reality?, Hum. Mov. Sci. 12, 653-692 (1993).
38. K. Akazawa and R. Okuno, Negative and positive stiffness of elbow flexors with constant muscle activation in isovelocity movements, in: Proc. 13th Cong. of the International Society of Electrophysiology and Kinesiology, Sapporo, pp. 231-235 (2000).
39. B. L. Riemann, R. G. DeMont, K. Ryu and S. M. Lephart, The effects of sex, joint angle, and the gastrocnemius muscle on passive ankle joint complex stiffness, J. Athl. Train. 36, 369-375 (2001).