Towards systematic controller design in rehabilitation robots
Date of Issue2017-10-05
School of Electrical and Electronic Engineering
Robotic devices have been used in post-stroke or trauma neurorehabilitation process for years. Due to the uncertain, complex, and changing physical human-robot-interaction dynamics involved and task-specific objectives for rehabilitation, control of this type of devices remains a vast area of research. This thesis seeks systematicness in rehabilitation robot control design by developing control frameworks for upper- and low-limb rehabilitation devices that can be generally applied on multiple devices, using theoretical and experimental methodologies.