Towards recognition of control variables for an Exoskeleton

Papageorgiou, X; McIntyre, J; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	McIntyre, J	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:20Z
dc.date.available	2014-03-01T02:44:20Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31762
dc.subject	Computer Simulation	en
dc.subject	Force Control	en
dc.subject	Motor Function	en
dc.subject	Robot Manipulator	en
dc.subject	Robustness Analysis	en
dc.subject.other	Control variables	en
dc.subject.other	Exoskeleton	en
dc.subject.other	Neuro-Robotics	en
dc.subject.other	Robotic manipulators	en
dc.subject.other	Computer simulation	en
dc.subject.other	End effectors	en
dc.subject.other	Force control	en
dc.subject.other	Manipulators	en
dc.subject.other	Motion planning	en
dc.subject.other	Robotics	en
dc.subject.other	Control system analysis	en
dc.title	Towards recognition of control variables for an Exoskeleton	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ISIC.2006.285557	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ISIC.2006.285557	en
heal.identifier.secondary	4064994	en
heal.publicationDate	2006	en
heal.abstract	In this paper we present a methodology to drive the end effector of a robotic manipulator, to which is attached a human hand, in order to follow the human's intention of movement. This set-up is inspired from a Neuro-Robotics scenario in order to develop systems for restoring motor functionalities in injured and disabled people. Three typical tasks are considered, namely the robot not to interfere with the human's motion, to assist a person with limited motion capabilities, and finally to be used from the subjects for rehabilitation reasons. The proposed controllers utilize a force control in two different ways, with inner position loop and with inner velocity loop. The derived controllers attempt to incorporate neuroscientific models results. Also, stability and robust analysis is presented. The properties of the proposed methodology are verified through non-trivial computer simulations. © 2006 IEEE.	en
heal.journalName	IEEE International Symposium on Intelligent Control - Proceedings	en
dc.identifier.doi	10.1109/ISIC.2006.285557	en
dc.identifier.spage	3053	en
dc.identifier.epage	3058	en