Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis

Andres Guatibonza, Leonardo Solaque, Alexandra Velasco, Lina Peñuela

2021

Abstract

Physical rehabilitation aims to improve the condition of people with any musculoskeletal disorder. Different assistive technologies have been developed to provide support to this process. In this context, human-machine interaction has progressively improved to avoid abrupt movements and vibrations, to obtain a more natural interaction, where control strategies play a key role. In this work, a control technique based on the combination of nonlinear adaptive theory with a hybrid impedance control applied to a 7-DoF upper limb assistance robotic device is proposed. Additionally, we include the stability analysis using Lyapunov functions. Then, we validate the strategies through simulations for one rehabilitation routine test. The articular and cartesian obtained results demonstrate the effectiveness of the control to follow trajectories. The control stabilizes the trajectories in 0.9 seconds even when the initial conditions start far from the desired trajectories, without producing vibrations or overshoots, which is the desired behavior in rehabilitation applications like the one we propose.

Paper Citation

in Harvard Style

Guatibonza A., Solaque L., Velasco A. and Peñuela L. (2021). Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 685-692. DOI: 10.5220/0010579206850692

in Bibtex Style

@conference{icinco21,
author={Andres Guatibonza and Leonardo Solaque and Alexandra Velasco and Lina Peñuela},
title={Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={685-692},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010579206850692},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis
SN - 978-989-758-522-7
AU - Guatibonza A.
AU - Solaque L.
AU - Velasco A.
AU - Peñuela L.
PY - 2021
SP - 685
EP - 692
DO - 10.5220/0010579206850692