A multi-lateral rehabilitation system

Aykut Cihan Satici, Ahmetcan Erdoǧan, Volkan Patoǧlu

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Different control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The effectiveness of the controller and regulation of the dominance for each agent is experimentally verified.

Original languageEnglish
Pages (from-to)715-723
Number of pages9
JournalTurkish Journal of Electrical Engineering and Computer Sciences
Volume19
Issue number5
DOIs
StatePublished - 2011

Keywords

  • Multi-lateral control architecture
  • Physical therapy for forearm and wrist
  • Robot-assisted rehabilitation
  • Wrist exoskeleton

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