Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation

Simple item page
dc.contributor.advisorO'Malley, Marcia Ken_US
dc.creatorLosey, Dylan Patricken_US
dc.date.accessioned2017-08-03T16:41:00Zen_US
dc.date.available2017-08-03T16:41:00Zen_US
dc.date.created2016-05en_US
dc.date.issued2016-04-21en_US
dc.date.submittedMay 2016en_US
dc.date.updated2017-08-03T16:41:00Zen_US
dc.description.abstractThis thesis discusses the use of adaptive control within human-robot interaction, and in particular rehabilitation robots, in order to change the perceived closed-loop system dynamics and compensate for unexpected and changing subject behaviors. I first motivate the use of controllers during robotic rehabilitation through a human-subjects study, in which I juxtapose interaction controllers and a novel motor learning protocol, and find that haptic guidance and error augmentation can improve the retention of trained behavior after feedback is removed. Next, I develop an adaptive controller for rigid upper-limb rehabilitation robots, which uses sensorless force estimation to minimize the amount of robotic assistance while also bounding the subject's trajectory errors. Finally, I discuss the use of time domain adaptive control in the context of physically compliant rehabilitation robots---in particular, series elastic actuators---where I discover that adaptive techniques enable passively rendering virtual environments not achievable using existing practices. Each of these adaptive controllers is developed using the theoretical framework of Lyapunov stability analysis, and is tested on single degree-of-freedom robotic hardware. I conclude that adaptive control provides an avenue for safe robotic interaction, both through stability analysis and physical compliance, and can adjust to subjects of various impairment levels to ensure that training is meaningful, in the sense that desired trajectories, interactions, and long-term effects are achieved.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationLosey, Dylan Patrick. "Adaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitation." (2016) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/96555">https://hdl.handle.net/1911/96555</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/96555en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectadaptive controlen_US
dc.subjecthuman-robot interactionen_US
dc.subjectrehabilitation roboticsen_US
dc.titleAdaptive and Self-Adjusting Controllers for Safe and Meaningful Human-Robot Interaction during Rehabilitationen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
LOSEY-DOCUMENT-2016.pdf
Size:
3.77 MB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 2 of 2
No Thumbnail Available
Name:
PROQUEST_LICENSE.txt
Size:
5.84 KB
Format:
Plain Text
Description:
Download
No Thumbnail Available
Name:
LICENSE.txt
Size:
2.6 KB
Format:
Plain Text
Description:
Download
Collections
Rice University Theses and Dissertations