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Issues in impedance selection and input devices for multijoint powered orthotics

M A Lemay1, N Hogan, J W van Dorsten

  • 1Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge 02139, USA.

IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
|April 16, 1998
PubMed
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Impedance controllers in robotic orthoses enhance arm movement for tetraplegics. Low stiffness and high viscosity settings improved directional control when using a robotic arm to turn a crank.

Area of Science:

  • Robotics
  • Rehabilitation Engineering
  • Biomechanics

Background:

  • Robotic orthoses offer potential for restoring arm function in individuals with paralysis.
  • Impedance control is a control strategy used in robotics to manage the dynamic interaction between a robot and its environment.

Purpose of the Study:

  • To evaluate the effectiveness of impedance controllers for robotic orthoses in assisting arm movements for individuals with tetraplegia.
  • To determine optimal impedance control parameters for improving functional task performance.

Main Methods:

  • Tetraplegic participants used their paralyzed arm, assisted by a planar robot manipulandum under impedance control, to perform a crank-turning task.
  • Chin motion was utilized as the command input for the robotic system.

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  • Impedance control parameters, specifically stiffness (50, 100, 200 N/m) and damping (5, 15 N/m/s), were systematically varied.

    • Main Results:

    • The study found that a lower stiffness setting combined with higher viscosity (damping) resulted in superior directional control of the tangential force applied to the crank.
    • Specific impedance parameter combinations significantly influenced the ability of participants to control the exerted force.

    Conclusions:

    • Impedance controllers are applicable and beneficial for robotic orthoses designed to assist arm movements in individuals with tetraplegia.
    • Optimizing impedance parameters, particularly by reducing stiffness and increasing damping, can enhance directional control and functional task performance in assistive robotic devices.