Impedance Control Algorithm for Physical Rehabilitation Robots

Abstract

Cardiac care recovery has evolved over a period of time; automation in cardiac rehabilitation is gaining momentum in an attempt to achieve the goal of shorter hospital stay and reduction in hospitalizations. Care Robots are one of the solutions that have the potential to increase the efficiency of care. Patients who have undergone a major surgery are fragile and require constant care around the clock.Tasks such as lifting the patient or getting the patient out of bed require physical strength and create complications not only for the patients but also for the caregivers. We have chosen Baxter(Buddy) research robot as our first care-bot prototype to attempt to assist in tasks that can be strenuous on human care givers. We are focusing on the physical strengths of Baxter in helping patients get out of bed. In this thesis we have designed a control mechanism that adjusts to patients physical metrics with minimal human intervention.Robotic motor joints are programmed to manipulate environment around the patient.On-board Torque control mechanisms have been modified to accommodate individual human needs based on their body type. In addition to Torque control we have also incorporated Baxter with a Object Recognition technique that employs the headboard camera in identifying the position of the subject on the bed.