Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
ADAPTIVE VARIABLE IMPEDANCE APPLIED TO ROBOTIC REHABILITATION OF WALKING
Submission Author:
Adriano Siqueira , SP , Brazil
Co-Authors:
Guido Gómez, Samuel Lourenco, Leonardo José Consoni, Wilian dos Santos, Juan Carlos Pérez Ibarra, Adriano Siqueira
Presenter: Adriano Siqueira
doi://10.26678/ABCM.DINAME2017.DIN17-0037
Abstract
This paper describes the preliminary results of an adaptive variable impedance strategy designed for robot-aided walking rehabilitation of pos-stroke patients. The proposed adaptive strategy considers the control of the mechanical impedance of the robot's joints based on the performance and participation of the patient during the therapy session. First, a robust position estimation system is proposed to measure the absolute angular position of the robot's links. Then, an EMG-based torque and stiffness estimation is used to identify the patient's activity and to adapt the robot's control parameters. The proposed strategy was evaluated in an active knee orthosis, designed and built by the researchers of the EESC/USP group in previous projects. A series elastic actuator drives the device and allows the implementation of joint impedance control
Keywords
Rehabilitation Robotics, exoskeletons, Impedance Control, adaptive control
