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Smart Exercise Adaptive Control of a Three Degree of Freedom Upper-limb Manipulator Robot

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dc.contributor.authorSen, Aastav Sasha
dc.date.accessioned2021-09-15T18:42:17Z
dc.date.available2021-09-15T18:42:17Z
dc.date.issued2021-09-15
dc.date.submitted2021-09-01
dc.description.abstractAn adaptive velocity field controller for robotic manipulators is proposed in this thesis. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user’s mechanical power. The control structure allows for passive user-manipulator physical interaction while the adaptive algorithm identifies the user’s biomechanical characteristics as a linear Hill based force-velocity curve defined at each pose of a repetitive exercise motion i.e. a Hill surface. The study of such a surface allows for the characterization of maximal effort exercise tasks and subsequently the control of exercises that is unique to each user. This allows for the intelligent characterization of a user’s abilities such that repetitive exercises defined by velocity fields can be safely performed. Such a study involving a 3DOF manipulator operating in full 3D has not been conducted in literature to the best of author’s knowledge. The proposed control structure is verified through experimentation on a unimanual setup of the BURT rehabilitation manipulator system involving a single user. The manipulator system includes friction, actuator/sensor noise, and unmodelled dynamics.en
dc.identifier.urihttp://hdl.handle.net/10012/17393
dc.language.isoenen
dc.pendingfalse
dc.publisherUniversity of Waterlooen
dc.subjectrehabilitationen
dc.subjectmanipulatoren
dc.subjectpassivityen
dc.subjectexerciseen
dc.subjectHill curveen
dc.subjectrepetitive controlen
dc.subjectadaptive controlen
dc.subjectexperimenten
dc.subjectSmart Exercise Machinesen
dc.subjectPassive Velocity Field Controlen
dc.subjectpHRIen
dc.titleSmart Exercise Adaptive Control of a Three Degree of Freedom Upper-limb Manipulator Roboten
dc.typeMaster Thesisen
uws-etd.degreeMaster of Scienceen
uws-etd.degree.departmentMechanical and Mechatronics Engineeringen
uws-etd.degree.disciplineMechanical Engineeringen
uws-etd.degree.grantorUniversity of Waterlooen
uws-etd.embargo.terms0en
uws.contributor.advisorJeon, Soo
uws.contributor.affiliation1Faculty of Engineeringen
uws.peerReviewStatusUnrevieweden
uws.published.cityWaterlooen
uws.published.countryCanadaen
uws.published.provinceOntarioen
uws.scholarLevelGraduateen
uws.typeOfResourceTexten

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Mechanical and Mechatronics Engineering