Robotic rehabilitation is a solution for recovery from neuromuscular diseases and supports physic... more Robotic rehabilitation is a solution for recovery from neuromuscular diseases and supports physical therapists in performing high-intensity and repetitive training activities. The main reason for the limitations of rehabilitation robot utilization is economic factors because rehabilitation robot technology requires high levels of investment and relatively costly routine operation and maintenance. To facilitate widespread adoption of rehabilitation robots, low-cost, highly compliant, and simple-to-operate robotic rehabilitation devices are required. In this study, to introduce a novel alternative solution to the aforementioned problem, a low-cost, highly transparent, single pneumatic artificial muscle (PAM) actuated robotic therapy orthosis that enables the patient to perform all training modalities is introduced. A novel control approach was developed by combining admittance control and inverse-dynamics-based compliant controls. By means of simple counterweight loads and compliant control, quasi-static movement of the orthosis for active exercises is achieved for the full operation range of PAM without any jerky transitions. A new assist-active modality named ''Patient Activated Assistance'' (PAAM) was introduced, in which the patient was the master, and the exercise was performed as long as the patient was active, avoiding slacking. Assistance was provided by sharing the load force in accordance with the applied gain. The orthosis performance in realizing the training modalities was verified using surface electromyogram (sEMG) measurements. The results demonstrated that the proposed low-cost single-PAM-actuated robotic orthosis could be a solution to robotic rehabilitation demands, especially in low-middle-income countries (LMIC). INDEX TERMS Rehabilitation robotics, robotic orthosis, training modalities, pneumatic artificial muscle, compliant control.
Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adapta... more Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robots. Conversely, compliance arises from nonlinear characteristics and generates obstructions in modeling and controlling actions. It is a critical issue limiting the use of PAM. In this work, multi-input single-output (MISO) inverse modeling and inverse dynamics model learning approaches are combined to obtain a novel nonlinear adaptive control scheme for single PAM-actuated 1-DoF rehabilitation devices, for instance, continuous passive motion (CPM) devices. The objective of the proposed system is to bring an alternative solution to the compliant operation of PAM while performing exercise trajectories, to satisfy requirements such as larger range of motion (ROM) and adaptability to external load impedance variations. The control system combines...
www.metu.edu.tr This paper presents a novel Intelligent Inference System (IIS) for the determinat... more www.metu.edu.tr This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, low-level kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.
This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY
Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular di... more Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular disorders and successful implementations are demonstrated by numerous clinical results. Majority of researchers focused on orthotic devices enabling basic therapy mode operations. However, there is still need for new orthotic designs which facilitates therapy modes and assistance for daily life activities in coherence. In this work, design of a multi-mode two DoF robotic arm orthosis is introduced. The designed robotic orthosis is implemented in simulation and tested with a human arm musculoskeletal model, for compliant operation. It uses model based computed torque controller and is tested for multi-mode operation. The performance is evaluated for compliant operation of “Assistive” and “Resistive” rehabilitation modes. Performance tests yielded encouraging results for future developments.
… 1992., Proceedings of the 1992 lEEE …, Jan 1, 1992
... A COMPUTER IMPLEMENTATION CBF WRACTAL BASED INFERENCE NETbTOFLK PRESE-fAP I NG FOR SEN533RIMO... more ... A COMPUTER IMPLEMENTATION CBF WRACTAL BASED INFERENCE NETbTOFLK PRESE-fAP I NG FOR SEN533RIMOTOR ROBOT EANI> Aydan M - Erkmen,member,IEEE, & Cabbar V - Baysal Midclle East Technical TJniversity Dept. of Electrical Engineering ...
… , 2004. ICM'04. Proceedings of the …, Jan 1, 2004
Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the d... more Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a ...
Abstract-In this paper, an implementation of fuzzy similarity methods for model based manipulativ... more Abstract-In this paper, an implementation of fuzzy similarity methods for model based manipulative hand postures is presented. The model used to represent manipulative hand postures is based on a human hand kinematical model. In the model, the posture is formed as a set of hand ...
Robotic rehabilitation is a solution for recovery from neuromuscular diseases and supports physic... more Robotic rehabilitation is a solution for recovery from neuromuscular diseases and supports physical therapists in performing high-intensity and repetitive training activities. The main reason for the limitations of rehabilitation robot utilization is economic factors because rehabilitation robot technology requires high levels of investment and relatively costly routine operation and maintenance. To facilitate widespread adoption of rehabilitation robots, low-cost, highly compliant, and simple-to-operate robotic rehabilitation devices are required. In this study, to introduce a novel alternative solution to the aforementioned problem, a low-cost, highly transparent, single pneumatic artificial muscle (PAM) actuated robotic therapy orthosis that enables the patient to perform all training modalities is introduced. A novel control approach was developed by combining admittance control and inverse-dynamics-based compliant controls. By means of simple counterweight loads and compliant control, quasi-static movement of the orthosis for active exercises is achieved for the full operation range of PAM without any jerky transitions. A new assist-active modality named ''Patient Activated Assistance'' (PAAM) was introduced, in which the patient was the master, and the exercise was performed as long as the patient was active, avoiding slacking. Assistance was provided by sharing the load force in accordance with the applied gain. The orthosis performance in realizing the training modalities was verified using surface electromyogram (sEMG) measurements. The results demonstrated that the proposed low-cost single-PAM-actuated robotic orthosis could be a solution to robotic rehabilitation demands, especially in low-middle-income countries (LMIC). INDEX TERMS Rehabilitation robotics, robotic orthosis, training modalities, pneumatic artificial muscle, compliant control.
Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adapta... more Rehabilitation is an area of robotics in which human–robot collaboration occurs, requiring adaptation and compliance. Pneumatic artificial muscles (PAM) are soft actuators that have built-in compliance making them usable for rehabilitation robots. Conversely, compliance arises from nonlinear characteristics and generates obstructions in modeling and controlling actions. It is a critical issue limiting the use of PAM. In this work, multi-input single-output (MISO) inverse modeling and inverse dynamics model learning approaches are combined to obtain a novel nonlinear adaptive control scheme for single PAM-actuated 1-DoF rehabilitation devices, for instance, continuous passive motion (CPM) devices. The objective of the proposed system is to bring an alternative solution to the compliant operation of PAM while performing exercise trajectories, to satisfy requirements such as larger range of motion (ROM) and adaptability to external load impedance variations. The control system combines...
www.metu.edu.tr This paper presents a novel Intelligent Inference System (IIS) for the determinat... more www.metu.edu.tr This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, low-level kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.
This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY
Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular di... more Robotic upper extremity orthoses have been used in rehabilitation for therapy of neuromuscular disorders and successful implementations are demonstrated by numerous clinical results. Majority of researchers focused on orthotic devices enabling basic therapy mode operations. However, there is still need for new orthotic designs which facilitates therapy modes and assistance for daily life activities in coherence. In this work, design of a multi-mode two DoF robotic arm orthosis is introduced. The designed robotic orthosis is implemented in simulation and tested with a human arm musculoskeletal model, for compliant operation. It uses model based computed torque controller and is tested for multi-mode operation. The performance is evaluated for compliant operation of “Assistive” and “Resistive” rehabilitation modes. Performance tests yielded encouraging results for future developments.
… 1992., Proceedings of the 1992 lEEE …, Jan 1, 1992
... A COMPUTER IMPLEMENTATION CBF WRACTAL BASED INFERENCE NETbTOFLK PRESE-fAP I NG FOR SEN533RIMO... more ... A COMPUTER IMPLEMENTATION CBF WRACTAL BASED INFERENCE NETbTOFLK PRESE-fAP I NG FOR SEN533RIMOTOR ROBOT EANI> Aydan M - Erkmen,member,IEEE, & Cabbar V - Baysal Midclle East Technical TJniversity Dept. of Electrical Engineering ...
… , 2004. ICM'04. Proceedings of the …, Jan 1, 2004
Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the d... more Abstract-In a dextrous manipulation, one of the major problems that remains to he solved is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task. In order to have a successful grasp execution, the system should have a ...
Abstract-In this paper, an implementation of fuzzy similarity methods for model based manipulativ... more Abstract-In this paper, an implementation of fuzzy similarity methods for model based manipulative hand postures is presented. The model used to represent manipulative hand postures is based on a human hand kinematical model. In the model, the posture is formed as a set of hand ...
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