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 Chinese Control And Decision Conference (CCDC). IEEE Xplore (Accepted)

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Abstract

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
Additional Information: © 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
Schools and Departments: School of Engineering and Informatics > Engineering and Design
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Date Deposited: 02 Mar 2021 08:03
Last Modified: 09 Apr 2021 11:02
URI: http://sro.sussex.ac.uk/id/eprint/97505

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