| Full text | |
| Author(s): |
Jutinico, Andres L.
;
Escalante, Felix M.
;
Jaimes, Jonathan C.
;
Terra, Marco H.
;
Siqueira, Adriano A. G.
;
IEEE
Total Authors: 6
|
| Document type: | Journal article |
| Source: | 2018 7TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB2018); v. N/A, p. 6-pg., 2018-01-01. |
| Abstract | |
In this paper, we deal with the human-robot interaction control problem. Levels of actuation of the user are considered in the human-robot interaction model from a stochastic point of view. It is given in terms of a Markovian approach. Electromyographic signals are used to compute jump parameters between different levels of interaction. In this way, human neuromuscular system defines the behavior of the Markov chain. A unified approach composed by robust Kalman filter and robust regulator for discrete-time Markovian jump linear systems is proposed. Also, a serious game is used to generate visual feedback and promote the active participation of the user. Experimental results show high accuracy in the Markovian compliance control for a robotic platform applied in ankle rehabilitation. (AU) | |
| FAPESP's process: | 11/04074-3 - Development of an interactive robotic device for rehabilitation of injuries of the knee |
| Grantee: | Wilian Miranda dos Santos |
| Support Opportunities: | Scholarships in Brazil - Master |
| FAPESP's process: | 13/14756-0 - Adaptive variable impedance applied to robotic rehabilitation of walking |
| Grantee: | Adriano Almeida Gonçalves Siqueira |
| Support Opportunities: | Regular Research Grants |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |