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

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conference contribution
posted on 2023-06-09, 23:12 authored by Kamran Maqsood, Jingkang Xia, Deqing Huang, Yanan LiYanan Li
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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

2021 33rd Chinese Control and Decision Conference (CCDC)

ISSN

1948-9439

Publisher

IEEE

Event name

Chinese Control and Decision Conference (CCDC 2021)

Event location

Kunming, China

Event type

conference

Event date

22-24 May 2021

ISBN

9781665431293

Department affiliated with

  • Engineering and Design Publications

Notes

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2021-03-02

First Open Access (FOA) Date

2021-04-09

First Compliant Deposit (FCD) Date

2021-03-02

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