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Rehabilitation Robotic
Assistive Systems |
Stroke is a leading cause
of disability in worldwide. In last few years, robotic devices are
proposed to assist, enhance and quantify rehabilitation therapy for stroke
patients. In this research, a new robotic rehabilitation system that
includes a device for assisting upper arm movements and an intelligent
controller to provide controllable, quantifiable assistance to stroke
patients in a safe and coordinated manner is proposed. The intelligent
controller consists of two main components which are low-level device
controller component (e.g. arm controller) and high-level controller
component. The low-level controller is an artificial neural network (ANN)
based PI gain scheduling direct force controller that has the ability to
provide optimal assistance for a wide range of
people and tasks under varying conditions. The high-level
controller, which is called supervisory controller, is used to monitor,
control and diagnose the low-level controller of the proposed
rehabilitation system. |
