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Figure 3 | Journal of NeuroEngineering and Rehabilitation

Figure 3

From: Self-adaptive robot training of stroke survivors for continuous tracking movements

Figure 3

Control scheme. The Force field generator uses an impedance control scheme, with the direct drive of the robot actuators, in such a way to transmit to the handle a force vector computed as a function of the kinematic state of the robot (sampling frequency: 1 kHz). The Adaptive Controller modulates the gain of the force field as a function of the evaluated performance, according to a non-monotonic training protocol. Continuous vectors: continuous time control; Dotted vectors: intermittent control.

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