ArticleSensors (Basel, Switzerland)2018
Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.
Article in Sensors (Basel, Switzerland), 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 13 citations in OpenAlex.
- Sensor-Based Rehabilitation in Neurological Diseases: A Bibliometric Analysis of Research Trends.Brain sciences · 2023Review
- [Research advances on functional training robots in burn rehabilitation].Zhonghua shao shang yu chuang mian xiu fu za zhi · 2022Article
- Virtual Torque Sensor for Low-Cost RC Servo Motors Based on Dynamic System Identification Utilizing Parametric Constraints.Sensors (Basel, Switzerland) · 2018Article
- Physical Extraction and Feature Fusion for Multi-Mode Signals in a Measurement System for Patients in Rehabilitation Exoskeleton.Sensors (Basel, Switzerland) · 2018Article
Corrections and comments
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Authors and funding
5 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.