Assist-as-Needed Control of a Shoulder Rehabilitation Robot Using a Virtual Biomechanical Model and Online Stiffness Adaptation

Keyphrases

• Assistive Control 100%
• Rehabilitation Robotics 100%
• Biomechanical Model 100%
• Shoulder Rehabilitation 100%
• Rehabilitation Training 100%
• Stiffness Adaptation 100%
• Interaction Force 66%
• Robot Model 66%
• Active Participation 66%
• Control Scheme 33%
• Stiffness 33%
• Control Framework 33%
• Passive Mode 33%
• Active Mode 33%
• Tracking Error 33%
• Joint Stiffness 33%
• Joint Torque 33%
• Neurorehabilitation 33%
• Stiffness Modulation 33%
• Patient-specific 33%
• Gradient-based 33%
• Activities of Daily Living 33%
• User Interaction 33%
• Dynamically Adjust 33%
• Daily Tasks 33%
• Safety Participation 33%
• Torque Profile 33%
• Levels of Support 33%
• Trajectory Tracking Error 33%
• Learning Mechanisms 33%
• Assist-as-needed Controller 33%
• Effective Stiffness 33%
• Individualization of Training 33%
• Motor Effort 33%
• Movement-based 33%
• Anthropometric Dimensions 33%
• Post-stroke Therapy 33%
• Dual Adaptation 33%

INIS

• control 100%
• robots 100%
• stiffness 100%
• interactions 60%
• errors 40%
• torque 40%
• modulation 20%
• levels 20%
• patients 20%
• safety 20%
• trajectories 20%
• motors 20%
• increasing 20%
• therapy 20%
• dimensions 20%
• learning 20%

Engineering

• Biomechanical Model 100%
• Rigidity 100%
• Joints (Structural Components) 50%
• Interaction Force 50%
• Healthy Subject 25%
• Control Scheme 25%
• Stiffness Modulation 25%
• Patient Specific 25%
• Learning Mechanism 25%