A greedy assist-as-needed controller for end-effect upper limb rehabilitation robot based on 3-DOF potential field constraints

A greedy assist-as-needed controller for end-effect upper limb rehabilitation robot based on 3-DOF potential field constraints

It has been proven that robot-assisted rehabilitation training can effectively promote the recovery of upper-limb motor function in post-stroke patients. Increasing patients’ active participation by providing assist-as-needed (AAN) control strategies is key to the effectiveness of robot-assisted reh...

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Bibliographic Details
Main Authors: Yue Lu, Zixuan Lin, Yahui Li, Jinwang Lv, Jiaji Zhang, Cong Xiao, Ye Liang, Xujiao Chen, Tao Song, Guohong Chai, Guokun Zuo
Format: Article
Language:English
Published: Frontiers Media S.A. 2024-10-01
Series:Frontiers in Robotics and AI
Subjects:
Assist-as-needed (AAN)
3-DOF potential field
radial basis function (RBF) network
human-robot interaction
rehabilitation robot
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2024.1404814/full
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