A rehabilitation robot with force-position hybrid fuzzy controller

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IEEE Trans Neural Syst Rehabil Eng. 2005 Sep;13(3):349-58.

A rehabilitation robot with force-position hybrid fuzzy controller:

hybrid fuzzy control of rehabilitation robot.

Ju MS, Lin CC, Lin DH, Hwang IS, Chen SM.

Department of Mechanical Engineering, National Cheng Kung University,

Tainan 70101, Taiwan, ROC.

The goal of this study was to design a robot system for assisting in

the rehabilitation of patients with neuromuscular disorders by

performing various facilitation movements. The robot should be able

to guide patient's wrist to move along planned linear or circular

trajectories. A hybrid position/force controller incorporating fuzzy

logic was developed to constrain the movement in the desired

direction and to maintain a constant force along the moving

direction. The controller was stable in the application range of

movements and forces. Offline analyses of data were used to

quantitatively assess the progress of rehabilitation. The results

show that the robot could guide the upper limbs of subjects in linear

and circular movements under predefined external force levels and

apply a desired force along the tangential direction of the movements.