Читать книгу Intelligent Systems for Rehabilitation Engineering - Группа авторов - Страница 19

The stability of teaching-in method was estimated by applying it to rehabilitation robotics where it is the least error and fastest settling force was also calculated [56]. The prototype of device that enabled humans to feel and visualize synthetic objectives was designed [57]. Development of pneumatic controlled orthosis was described for stroke patients, and it was capable of position control of the robotic arm [58]. Design and interfacing of active leg exoskeleton (ALEX) were described for patients with impairment in which active force-field controller was used [59]. The complex nature of bio-cooperative rehabilitation systems and its control strategies was discussed. The probable solution to these problems was also described [60]. The stability analysis of rehabilitation robotics was presented, which consisted of the design of a controller to suppress the unintended movements [61]. An admittance control algorithm was applied on an underdevelopment rehabilitation robotics, and its preliminary report was generated [62]. The summary of the control aspects and the stability issues are presented in Table 1.3.

Thus, Table 1.3 enlists some of the work done in the field of control theory and stability analysis associated with robotics employed for rehabilitation purposes.

Table 1.3 Summary of certain articles on the control and stability analysis.

Ref. number	Area of rehabilitation robotics explored	Remarks
[56]	Stability of teaching-in method	The stability was analyzed applying it to rehabilitation robotics. The least error and fastest settling force were also calculated, and analysis was done on the elasticity of force sensor.
[57]	Devices that allowed humans to visualize and feel	The prototype required motor control and the ability to learn about human motor tasks and capability to adapt to different situations.
[58]	Pneumatic actuated orthosis	The system was developed for stroke patients. The system was capable of performing position control of the robotic arm and learning from the movement and storing it for movement the next time.
[59]	Design and interfacing of active leg exoskeleton (ALEX)	The device included a force-field controller for applying forces for proper movement, and the experimental results based on it were also presented.
[60]	Importance of psychological factors in rehabilitation	The article described challenges faced while using the closed-loop control of bio-cooperative rehabilitation systems.
[61]	Method for the stability analysis	The method consisted of the ability to customize as per the recovery rate of the patient and had a controller to suppress the unintended movements.
[62]	Admittance control algorithm on hand rehabilitation	The system consisted of a single degree of freedom. The robot was under development, and a preliminary report was generated, which showed positive results.