Non-linear adaptive impedance controller for rehabilitation purposes

Roberto Oboe, Davide Pilastro

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Rehabilitation robotics is a field of research in continuous growth and evolution. Its main purpose is to develop suitable robotics devices and control strategies to assist patient's movements during training. To do that, advanced control strategies and implementation of suitable force feedback for these robotic devices have been developed for rehabilitation purposes. This paper describes a novel control strategy, focused in a nonlinear adaptive impedance controller based on position errors, whose aims are: to adapt the exercise to the type and level of injury of patients, to avoid the phenomenon of slack and to help to evaluate performance indices of training sections. Moreover, thanks to the simplicity of the control algorithm and the no additional sensors it can be easily applied in low-cost devices. Several tests are presented using a five-bar linkage robotic device used for upper limbs rehabilitation therapies. The related results help to evaluate performances of this adaptive controller and show its 'assist-as-needed' feature.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479923243
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: Mar 14 2014Mar 16 2014


Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation


Dive into the research topics of 'Non-linear adaptive impedance controller for rehabilitation purposes'. Together they form a unique fingerprint.

Cite this