Towards systematic controller design in rehabilitation robots
Robotic devices have been used in post-stroke or trauma neurorehabilitation process for years. Due to the uncertain, complex, and changing physical human-robot-interaction dynamics involved and task-specific objectives for rehabilitation, control of this type of devices remains a vast area of resear...
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2017
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| Online Access: | http://hdl.handle.net/10356/72698 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Robotic devices have been used in post-stroke or trauma neurorehabilitation process for years. Due to the uncertain, complex, and changing physical human-robot-interaction dynamics involved and task-specific objectives for rehabilitation, control of this type of devices remains a vast area of research. This thesis seeks systematicness in rehabilitation robot control design by developing control frameworks for upper- and low-limb rehabilitation devices that can be generally applied on multiple devices, using theoretical and experimental methodologies. |
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