CCDC-11-01.pdf (2.26 MB)
Robot assisted training for upper limbs using impedance control based on iterative learning
conference contribution
posted on 2023-06-09, 23:12 authored by Kamran Maqsood, Jingkang Xia, Deqing Huang, Yanan LiYanan LiThis 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
1948-9439Publisher
IEEEExternal DOI
Event name
Chinese Control and Decision Conference (CCDC 2021)Event location
Kunming, ChinaEvent type
conferenceEvent date
22-24 May 2021ISBN
9781665431293Department 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 worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-03-02First Open Access (FOA) Date
2021-04-09First Compliant Deposit (FCD) Date
2021-03-02Usage metrics
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