Impedance and force-field control of the index finger module of a hand exoskeleton for rehabilitation

IEEE International Conference on Rehabilitation Robotics

Volumn 2015-September, Issue , 2015, Pages 85-90

  Agarwal, Priyanshu ^a   Deshpande, Ashish D ^a  

^a The University of Texas at Austin   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; EXOSKELETON (ROBOTICS); MOTION TRACKING; ROBOTS; TORQUE;

EFFECTIVE INTERACTIONS; HAND EXOSKELETON; HEALTHY SUBJECTS; HIGH IMPEDANCE; IMPEDANCE CONTROL; POSITION DEPENDENTS; REHABILITATION ROBOT; TRAJECTORY TRACKING;

PALMPRINT RECOGNITION;

EID: 84946023295     PISSN: 19457898     EISSN: 19457901     Source Type: Conference Proceeding    
DOI: 10.1109/ICORR.2015.7281180     Document Type: Conference Paper

References (34)

1. P. S. Lum, C. G. Burgar, P. C. Shor, M. Majmundar, and M. Van der Loos, "Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke, " Archives of Physical Medicine and Rehabilitation, vol. 83, no. 7, pp. 952-959, 2002.
2. S. Balasubramanian, R. Wei, R. Herman, and J. He, "Robot-measured performance metrics in stroke rehabilitation, " in IEEE International Conference on Complex Medical Engineering, 2009, pp. 1-6.
3. L. Dovat, O. Lambercy, B. Salman, V. Johnson, T. Milner, R. Gassert, E. Burdet, and T. C. Leong, "A technique to train finger coordination and independence after stroke, " Disability & Rehabilitation: Assistive Technology, vol. 5, no. 4, pp. 279-287, 2010.
4. P. Agarwal, P.-H. Kuo, R. R. Neptune, and A. D. Deshpande, "A novel framework for virtual prototyping of rehabilitation exoskeletons, " in ICORR, 2013, pp. 1-6.
5. C. D. Takahashi, L. Der-Yeghiaian, V. Le, R. R. Motiwala, and S. C. Cramer, "Robot-based hand motor therapy after stroke, " Brain, vol. 131, no. 2, pp. 425-437, 2008.
6. C. H. Hwang, J. W. Seong, and D. S. Son, "Individual finger synchronized robot-assisted hand rehabilitation in subacute to chronic stroke: a prospective randomized clinical trial of efficacy, " Clinical Rehabilitation, vol. 26, no. 8, pp. 696-704, 2012.
7. L. Marchal-Crespo and D. J. Reinkensmeyer, "Review of control strategies for robotic movement training after neurologic injury, " Journal of Neuroengineering and Rehabilitation, vol. 6, no. 1, p. 20, 2009.
8. A. Wege, K. Kondak, and G. Hommel, "Force control strategy for a hand exoskeleton based on sliding mode position control, " in IROS, 2006, pp. 4615-4620.
9. J. Li, S. Wang, J. Wang, R. Zheng, Y. Zhang, and Z. Chen, "Development of a hand exoskeleton system for index finger rehabilitation, " Chinese Journal of Mechanical Engineering, vol. 25, no. 2, pp. 223-233, 2012.
10. C. L. Jones, F. Wang, R. Morrison, N. Sarkar, and D. G. Kamper, "Design and development of the cable actuated finger exoskeleton for hand rehabilitation following stroke, " IEEE/ASME Transactions on Mechatronics, vol. 19, no. 1, pp. 131-140, 2014.
11. Q. Bi and C.-j. Yang, "Human-machine interaction force control: using a model-referenced adaptive impedance device to control an index finger exoskeleton, " Journal of Zhejiang University SCIENCE C, vol. 15, no. 4, pp. 275-283, 2014.
12. M. Bouzit, G. Burdea, G. Popescu, and R. Boian, "The Rutgers Master II-new design force-feedback glove, " IEEE/ASME Transactions on Mechatronics, vol. 7, no. 2, pp. 256-263, 2002.
13. M. Aiple and A. Schiele, "Pushing the limits of the cybergrasp for haptic rendering, " in ICRA, 2013, pp. 3541-3546.
14. C. A. Avizzano, F. Bargagli, A. Frisoli, and M. Bergamasco, "The hand force feedback: analysis and control of a haptic device for the human-hand, " in IEEE International Conference on Systems, Man, and Cybernetics, vol. 2, 2000, pp. 989-994.
15. B. Choi and H. Choi, "SKK hand master-hand exoskeleton driven by ultrasonic motors, " in IROS, vol. 2, 2000, pp. 1131-1136.
16. N. Hogan, "Impedance control: An approach to manipulation: Part II-implementation, " Journal of Dynamic Systems, Measurement, and Control, vol. 107, no. 1, pp. 8-16, 1985.
17. J. K. Salisbury, "Active stiffness control of a manipulator in cartesian coordinates, " in IEEE Conference on Decision and Control including the Symposium on Adaptive Processes, vol. 19, 1980, pp. 95-100.
18. M. T. Mason, "Compliance and force control for computer controlled manipulators, " IEEE Transactions on Systems, Man and Cybernetics, vol. 11, no. 6, pp. 418-432, 1981.
19. H. Krebs, B. Volpe, M. Aisen, and N. Hogan, "Increasing productivity and quality of care: robot-aided neuro-rehabilitation, " Journal of Rehabilitation Research and Development, vol. 37, no. 6, pp. 639-652, 2000.
20. R. Colombo, F. Pisano, S. Micera, A. Mazzone, C. Delconte, M. C. Carrozza, P. Dario, and G. Minuco, "Robotic techniques for upper limb evaluation and rehabilitation of stroke patients, " IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 13, no. 3, pp. 311-324, 2005.
21. G. Aguirre-Ollinger, J. E. Colgate, M. A. Peshkin, and A. Goswami, "Active-impedance control of a lower-limb assistive exoskeleton, " in ICORR, 2007, pp. 188-195.
22. J. E. Colgate and N. Hogan, "Robust control of dynamically interacting systems, " International Journal of Control, vol. 48, no. 1, pp. 65-88, 1988.
23. L. L. Cai, A. J. Fong, C. K. Otoshi, Y. Liang, J. W. Burdick, R. R. Roy, and V. R. Edgerton, "Implications of assist-as-needed robotic step training after a complete spinal cord injury on intrinsic strategies of motor learning, " The Journal of Neuroscience, vol. 26, no. 41, pp. 10 564-10 568, Oct. 2006.
24. D. Zanotto, P. Stegall, and S. K. Agrawal, "Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training, " in IEEE International Conference on Robotics and Automation, 2014, pp. 724-729.
25. X. Jin, C. Xiang, and S. K. Agrawal, "Design of a cable-driven active leg exoskeleton (c-alex) and gait training experiments with human subjects, " in ICRA, 2015, (accepted).
26. P. Agarwal, J. Fox, Y. Yun, M. OMalley, and A. D. Deshpande, "An index finger exoskeleton with series elastic actuation: Design and characterization, " International Journal of Robotics Research, 2014, (under review).
27. E. L. Altschuler, S. B. Wisdom, L. Stone, C. Foster, D. Galasko, D. M. E. Llewellyn, and V. S. Ramachandran, "Rehabilitation of hemiparesis after stroke with a mirror, " The Lancet, vol. 353, no. 9169, pp. 2035-2036, 1999.
28. G. Yavuzer, R. Selles, N. Sezer, S. Sütbeyaz, J. B. Bussmann, F. Köseoʇlu, M. B. Atay, and H. J. Stam, "Mirror therapy improves hand function in subacute stroke: a randomized controlled trial, " Archives of Physical Medicine and Rehabilitation, vol. 89, no. 3, pp. 393-398, 2008.
29. C. G. Burgar, P. S. Lum, P. C. Shor, and H. M. Van der Loos, "Development of robots for rehabilitation therapy: the palo alto va/stanford experience, " Journal of Rehabilitation Research and Development, vol. 37, no. 6, pp. 663-674, 2000.
30. S. Ueki, H. Kawasaki, S. Ito, Y. Nishimoto, M. Abe, T. Aoki, Y. Ishigure, T. Ojika, and T. Mouri, "Development of a handassist robot with multi-degrees-of-freedom for rehabilitation therapy, " IEEE/ASME Transactions on Mechatronics, vol. 17, no. 1, pp. 136-146, 2012.
31. A. W. Dromerick, "Clinical features of spasticity and principles of treatment, " in Clinical Evaluation and Management of Spasticity. Springer, 2002, pp. 13-26.
32. S. A. Chillag and S. Greenberg, "An unusual cause of trigger finger, " New England Journal of Medicine, vol. 365, no. 7, 2011.
33. P. H. Kuo and A. Deshpande, "Muscle-Tendon units provide limited contributions to the passive stiffness of the index finger metacarpophalangeal joint, " Journal of Biomechanics, vol. 45, no. 15, pp. 2531-2538, 2012.
34. N. Hogan, H. I. Krebs, B. Rohrer, J. J. Palazzolo, L. Dipietro, S. E. Fasoli, J. Stein, R. Hughes, W. R. Frontera, D. Lynch et al., "Motions or muscles? some behavioral factors underlying robotic assistance of motor recovery, " Journal of Rehabilitation Research and Development, vol. 43, no. 5, p. 605, 2006.