Table 6 Glossary of terms concerning control strategy of robots for rehabilitation
From: A survey on robotic devices for upper limb rehabilitation
Term | Description |
|---|---|
“High-level” control strategy | A control strategy with control algorithms explicitly designed to induce motor plasticity. |
Assistive control | A “high-level” control strategy in which a device provides the physical assistance to aid the patient in accomplishing an intended movement. |
Challenge-based control | A “high-level” control strategy in which a device challenges the patient to accomplish an intended movement. |
Haptic stimulation | A “high-level” control strategy in which a robotic device is used as a haptic interface to perform activities in virtual reality environment. |
Couching control | A “high-level” control strategy in which a robotic device neither physically assists nor resists the movement of the subject. It only quantifies and provides feedback (visual, acoustic or other) concerning the performance of the subject during exercise. |
“Low-level” control strategy | A control strategy considered in the implementation of the “high-level” control strategy in a device by appropriate control of the force, position, impedance or admittance. |
Admittance control | A “low-level” control strategy in which the force exerted by the user is measured, and the device generates the corresponding displacement. |
Impedance control | A “low-level” control strategy in which the motion of the limb is measured and the robot provides the corresponding force feedback. |