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Optimal Impedance Control of an Upper Limb Stroke Rehabilitation Robot

[+] Author Affiliations
Borna Ghannadi, John McPhee

University of Waterloo, Waterloo, ON, Canada

Paper No. DSCC2015-9689, pp. V001T09A002; 7 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


There is an increasing prevalence of stroke, spinal cord and brain injuries worldwide. Robotics are becoming a popular form of rehabilitation, but their effectiveness is yet to be proven. Recent motor learning theories motivate us to improve the control algorithms of these robots. This work proposes an optimal impedance control (i.e., a linear quadratic regulator mapped from the operational space) to control a 2 degree of freedom (DOF) upper extremity stroke rehabilitation robot. We used an integrated model of the robot and human (a 2 DOF musculoskeletal arm model) to develop and fine-tune the controller.

Copyright © 2015 by ASME
Topics: Robots



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