TY - GEN
T1 - Passive hand rehabilitation training through robots
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
AU - Long Cheng, H.
AU - Liu, Siyuan
AU - Meng, Deyuan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - Robots are widely used in the field of medical rehabilitation to assist patients to conduct rehabilitation training. Due to the repetition nature of the rehabilitation training, this paper proposes an iterative learning controller equipped with feedback mechanism for the passive hand rehabilitation training, which is based on a cable-driven hand exoskeleton robot. Thanks to the use of the information from previous iterations, the desired trajectory can be perfectly tracked over a finite duration. Moreover, the monotonic convergence of the proposed iterative learning controller can be achieved under a sufficient condition. In addition, our iterative learning controller is applied to the hand exoskeleton robot in both the simulation tests and the physical trajectory tracking experiments, which demonstrates its effectiveness and desired control performance.
AB - Robots are widely used in the field of medical rehabilitation to assist patients to conduct rehabilitation training. Due to the repetition nature of the rehabilitation training, this paper proposes an iterative learning controller equipped with feedback mechanism for the passive hand rehabilitation training, which is based on a cable-driven hand exoskeleton robot. Thanks to the use of the information from previous iterations, the desired trajectory can be perfectly tracked over a finite duration. Moreover, the monotonic convergence of the proposed iterative learning controller can be achieved under a sufficient condition. In addition, our iterative learning controller is applied to the hand exoskeleton robot in both the simulation tests and the physical trajectory tracking experiments, which demonstrates its effectiveness and desired control performance.
UR - https://www.scopus.com/pages/publications/85116258842
U2 - 10.1109/ICARM52023.2021.9536052
DO - 10.1109/ICARM52023.2021.9536052
M3 - 会议稿件
AN - SCOPUS:85116258842
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 651
EP - 656
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 3 July 2021 through 5 July 2021
ER -