Developed by: D. Piccoli, A. Santopaolo(2020).
Supervisor: prof. Fanny Ficuciello (University of Naples Federico II)
The research activity consists in the development of adaptive control algorithms for the automatic adjustment of the level of assistance to be provided to the patient in rehabilitation on the basis of the interpretation of movement intentions and the progress made in the recovery of motor functions. The platform of interest is Kuka MED Robot.
Work in progress ... A briefly explanation of the work in the ongoing report (Only in italian for the moment!)
Different test has been realized to test the efficiency of the controller. The position one work well, still improving the force controller. Begore to launch Test.m, run Path_robot and Corke_model.
Zhang, J., & Cheah, C. C. (2015). Passivity and stability of human–robot interaction control for upper-limb rehabilitation robots. IEEE Transactions on Robotics, 31(2), 233-245.
Bruno Siciliano and Oussama Khatib. Springer handbook of robotics. Springer, 2016
Philipp Beckerle, Gionata Salvietti, Ramazan Unal, Domenico Prattichizzo, Simone Rossi, Claudio Castellini, Sandra Hirche, Satoshi Endo, Heni Ben Amor, Matei Cio- carlie, et al. A human–robot interaction perspective on assistive and rehabilitation robotics. Frontiers in neurorobotics, 11:24, 2017
Giovanni Morone, Stefano Paolucci, Andrea Cherubini, Domenico De Angelis, Vincenzo Venturiero, Paola Coiro, and Marco Iosa. Robot-assisted gait training for stroke patients: current state of the art and perspectives of robotics. Neuropsychiatric disease and treatment, 13:1303, 2017.