Knowledge Commons of Institute of Automation,CAS
An assist-as-needed controller for robotic rehabilitation therapy based on RBF network | |
Luo, Lincong1,2; Peng, Liang1; Wang, Chen1,2; Hou, Zengguang1,3; Wang, Weiqun1 | |
2018 | |
会议名称 | International Joint Conference on Neural Networks (IJCNN) |
会议日期 | 2018-7 |
会议地点 | Rio de Janeiro, Brazil |
出版者 | IEEE |
摘要 | The rehabilitation training with active involvement and efforts of impaired subjects can enhance the outcome of rehabilitation therapies. To promote patients’ voluntary engagement, a variety of assist as needed (AAN) controllers have been proposed for robot-aided therapy. However, patients’ impairment level is not taken into account in the implementation of those control schemes. In this study, a novel AAN controller is developed for upper limb rehabilitation therapy. The control paradigm uses Gaussian radial basis function (RBF) network o learn the model of subjects’ motor capability in workspace. The update of weight vectors of RBF network is based on a greedy strategy, which has the potential to promote subjects’voluntary engagement by providing task challenge for them. Considering the difference in the impairment degree of patients, the assistance and impedance level of robot control is regulated based on the task performance of patients. The results of experiments at four healthy subjects verify the feasibility and adaptability of the proposed AAN controller. |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23642 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Hou, Zengguang |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.University of Chinese Academy of Sciences 3.CAS Center for Excellence in Brain Science and Intelligence Technology |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Luo, Lincong,Peng, Liang,Wang, Chen,et al. An assist-as-needed controller for robotic rehabilitation therapy based on RBF network[C]:IEEE,2018. |
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IJCNN.pdf(1599KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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