A Fuzzy Logic Architecture for Rehabilitation Robotic Systems

Robots are highly incorporated in rehabilitation in the last decade to compensate lost functions in disabled individuals. By controlling the rehabilitation robots from far, many benefits are achieved. These benefits include but not restricted to minimum hospital stays, decreasing cost, and increasing the level of care. The main goal of this work is to have an effective solution to take care of patients from far. Tackling the problem of the remote control of rehabilitation robots is undergoing and highly challenging. In this paper, a remote wrist rehabilitation system is presented. The developed system is a sophisticated robot ensuring the two wrist movements (Flexion /extension and abduction/adduction). Additionally, the proposed system provides a software interface enabling the physiotherapists to control the rehabilitation process remotely. The patient’s safety during the therapy is achieved through the integration of a fuzzy controller in the system control architecture. The fuzzy controller is employed to control the robot action according to the pain felt by the patient. By using fuzzy logic approach, the system can adapt effectively according to the patients’ conditions. The Queue Telemetry Transport Protocol (MQTT) is considered to overcome the latency during the human robot interaction. Based on a Kinect camera, the control technique is made gestural. The physiotherapist gestures are detected and transmitted to the software interface to be processed and be sent to the robot. The acquired measurements are recorded in a database that can be used later to monitor patient progress during the treatment protocol. The obtained experimental results show the effectiveness of the developed remote rehabilitation system

Assistive robotic device: evaluation of intelligent algorithms

Assistive robotic devices can be used to help people with upper body disabilities gaining more autonomy in their daily life. Although basic motions such as positioning and orienting an assistive robot gripper in space allow performance of many tasks, it might be time consuming and tedious to perform more complex tasks. To overcome these difficulties, improvements can be implemented at different levels, such as mechanical design, control interfaces and intelligent control algorithms. In order to guide the design of solutions, it is important to assess the impact and potential of different innovations. This paper thus presents the evaluation of three intelligent algorithms aiming to improve the performance of the JACO robotic arm (Kinova Robotics). The evaluated algorithms are 'preset position', 'fluidity filter' and 'drinking mode'. The algorithm evaluation was performed with 14 motorized wheelchair's users and showed a statistically significant improvement of the robot's performance.Comment: 4 page

Overview of some Command Modes for Human-Robot Interaction Systems

Interaction and command modes as well as their combination are essential features of modern and futuristic robotic systems interacting with human beings in various dynamical environments. This paper presents a synthetic overview concerning the most command modes used in Human-Robot Interaction Systems (HRIS). It includes the first historical command modes which are namely tele-manipulation, off-line robot programming, and traditional elementary teaching by demonstration. It then introduces the most recent command modes which have been fostered later on by the use of artificial intelligence techniques implemented on more powerful computers. In this context, we will consider specifically the following modes: interactive programming based on the graphical-user-interfaces, voice-based, pointing-on-image-based, gesture-based, and finally brain-based commands.info:eu-repo/semantics/publishedVersio