机器人康复治疗实时模糊轨迹生成

Peter Martin, M. Emami
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引用次数: 9

摘要

本文提出了一种用于神经系统疾病上肢功能障碍患者机器人康复的实时模糊轨迹生成器的设计方法。该系统利用模糊逻辑模式将顺应性引入人机交互,并允许模拟各种治疗技术。这种方法还允许使用语言变量对系统动力学进行微调。系统的规则库使用基于传统治疗过程中收集的实验数据的模糊聚类方法进行训练。轨迹发生器将被打包成一个独立于平台的解决方案,以方便使用多个机械手配置的患者康复。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Real-time fuzzy trajectory generation for robotic rehabilitation therapy
This paper proposes a method for the design of a real-time fuzzy trajectory generator for the robotic rehabilitation of patients with upper limb dysfunction due to neurological diseases. The system utilizes a fuzzy-logic schema to introduce compliance into the human-robot interaction, and to allow the emulation of a wide variety of therapy techniques. This approach also allows for the fine-tuning of system dynamics using linguistic variables. The rule base for the system is trained using a fuzzy clustering approach based on experimental data gathered during traditional therapy sessions. The trajectory generator will be packaged as a platform-independent solution to facilitate the rehabilitation of patients using multiple manipulator configurations.
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