Virtual Sensors For Advanced Controllers In Rehabilitation Robotics

In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic de...

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Detalles Bibliográficos
Autores: Mancisidor Barinagarrementeria, Aitziber, Zubizarreta Pico, Asier, Cabanes Axpe, Itziar, Portillo Pérez, Eva, Jung, Je Hyung
Tipo de recurso: artículo
Fecha de publicación:2018
País:España
Institución:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/27773
Acceso en línea:http://hdl.handle.net/10810/27773
Access Level:acceso abierto
Palabra clave:rehabilitation robotic device
force virtual sensor
motion virtual sensor
advanced controller
lower-limb rehabilitation
design
mechanism
stroke
system
state
art
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spelling Virtual Sensors For Advanced Controllers In Rehabilitation RoboticsMancisidor Barinagarrementeria, AitziberZubizarreta Pico, AsierCabanes Axpe, ItziarPortillo Pérez, EvaJung, Je Hyungrehabilitation robotic deviceforce virtual sensormotion virtual sensoradvanced controllerlower-limb rehabilitationdesignmechanismstrokestrokesystemstateartIn order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.This work was supported in part by the Basque Country Governments (GV/EJ) under grant PRE-2014-1-152, UPV/EHU's PPG17/56 project, Basque Country Governments IT914-16 project, Spanish Ministry of Economy and Competitiveness' MINECO & FEDER inside DPI2017-82694-R project, Euskampus, FIK and Spanish Ministry of Science and Innovation PDI-020100-2009-21 project.MDPI201820182018info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/27773reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoInglésInfo:eu-repo/grantAgreement/MINECO/http://www.mdpi.com/1424-8220/18/3/785info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/3.0/es/c 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).Atribución 3.0 Españaoai:addi.ehu.eus:10810/277732026-06-18T09:23:17Z
dc.title.none.fl_str_mv Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
title Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
spellingShingle Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
Mancisidor Barinagarrementeria, Aitziber
rehabilitation robotic device
force virtual sensor
motion virtual sensor
advanced controller
lower-limb rehabilitation
design
mechanism
stroke
stroke
system
state
art
title_short Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
title_full Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
title_fullStr Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
title_full_unstemmed Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
title_sort Virtual Sensors For Advanced Controllers In Rehabilitation Robotics
dc.creator.none.fl_str_mv Mancisidor Barinagarrementeria, Aitziber
Zubizarreta Pico, Asier
Cabanes Axpe, Itziar
Portillo Pérez, Eva
Jung, Je Hyung
author Mancisidor Barinagarrementeria, Aitziber
author_facet Mancisidor Barinagarrementeria, Aitziber
Zubizarreta Pico, Asier
Cabanes Axpe, Itziar
Portillo Pérez, Eva
Jung, Je Hyung
author_role author
author2 Zubizarreta Pico, Asier
Cabanes Axpe, Itziar
Portillo Pérez, Eva
Jung, Je Hyung
author2_role author
author
author
author
dc.subject.none.fl_str_mv rehabilitation robotic device
force virtual sensor
motion virtual sensor
advanced controller
lower-limb rehabilitation
design
mechanism
stroke
stroke
system
state
art
topic rehabilitation robotic device
force virtual sensor
motion virtual sensor
advanced controller
lower-limb rehabilitation
design
mechanism
stroke
stroke
system
state
art
description In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.
publishDate 2018
dc.date.none.fl_str_mv 2018
2018
2018
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/27773
url http://hdl.handle.net/10810/27773
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Info:eu-repo/grantAgreement/MINECO/
http://www.mdpi.com/1424-8220/18/3/785
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/3.0/es/
Atribución 3.0 España
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/3.0/es/
Atribución 3.0 España
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
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