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Authors: Ting Wang 1 and Yanfeng Pu 2

Affiliations: 1 School of Instrument Science and Engineering, Southeast University, 2, Sipailou, Xuanwu District, Southeast University, 210096, Nanjing, China ; 2 Nanjing Customs District P. R. China, 360, Longpanzhong Road, Qinhuai District, Nanjing, China

Keyword(s): Impedance Control, Upper Limb, Tele-rehabilitation.

Abstract: In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time during the training exercises, an adaptive impedance control is proposed for the slave side. At the same time, the trajectory control based on the Hamilton-Jacobi-Inequality theory and the RBF Neural network is performed for the master manipulator operated by therapists. The stability is analyzed and numerical simulations show the efficiencies and high performances of the proposed method.

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Paper citation in several formats:
Wang, T. and Pu, Y. (2020). RBF Neural Network based Trajectory Control and Impedance Control of a Upper Limb Tele-rehabilitation Process. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 109-116. DOI: 10.5220/0009143401090116

@conference{icinco20,
author={Ting Wang. and Yanfeng Pu.},
title={RBF Neural Network based Trajectory Control and Impedance Control of a Upper Limb Tele-rehabilitation Process},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={109-116},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009143401090116},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - RBF Neural Network based Trajectory Control and Impedance Control of a Upper Limb Tele-rehabilitation Process
SN - 978-989-758-442-8
IS - 2184-2809
AU - Wang, T.
AU - Pu, Y.
PY - 2020
SP - 109
EP - 116
DO - 10.5220/0009143401090116
PB - SciTePress