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Adaptive control of a serial-in-parallel robotic rehabilitation device

Submitted by Marcia O'Malley on Thu, 01/30/2014 - 17:26

TitleAdaptive control of a serial-in-parallel robotic rehabilitation device
Publication TypeConference Proceedings
Year of Conference2013
AuthorsPehlivan, AU, Sergi, F, O'Malley, MK
Conference NameRehabilitation Robotics (ICORR), 2013 IEEE International Conference on
Date PublishedJune
Keywordsabsolute error performance; Adaptation models; adaptive control; closed form dynamic model; control system synthesis; Equations; Feedback; feedback gain; forearm rehabilitation; generalized coordinates; Manipulators; Mathematical model; medical robotics; model-based adaptive controller implementation; movement-based wrist; neurological injuries; Patient rehabilitation; RiceWrist; Robot kinematics; sensorimotor training; serial-in-parallel robot rehabilitation mechanism; serial-in-parallel robotic rehabilitation device; Trajectory; trajectory control; trajectory tracking performance; upper extremity robotic rehabilitation; Vectors
DOI10.1109/ICORR.2013.6650412

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Mechatronics and Haptic Interfaces Lab at Rice University

Mechanical Engineering Department, MS 656, 713-348-2300
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