Robot assisted training for upper limbs using impedance control based on iterative learning

Maqsood, Kamran, Xia, Jingkang, Huang, Deqing and Li, Yanan (2021) Robot assisted training for upper limbs using impedance control based on iterative learning. Chinese Control and Decision Conference (CCDC 2021), Kunming, China, 22-24 May 2021. Published in: 2021 33rd Chinese Control and Decision Conference (CCDC). IEEE ISSN 1948-9439 ISBN 9781665431293

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This paper proposes an approach to improve robot assisted physical training subject to human uncertainties. This approach is based on impedance control which is used to regulate the dynamic relationship between the robot’s position and contact force. Repetitive exercise is considered and impedance parameters are adapted in accordance with the human user to provide physical training as needed. Different from the existing approaches, the proposed one has the capacity to deal with time-length-varying cycles, which is a critical issue in physical training of human’s upper limbs. By theoretical analysis and experimental results, we show that the approach can effectively learn the required robot’s impedance parameters and improve the performance of physical training.

Item Type: Conference Proceedings
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Schools and Departments: School of Engineering and Informatics > Engineering and Design
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Date Deposited: 02 Mar 2021 08:03
Last Modified: 04 Mar 2022 17:03

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