An intelligent robot control system for physiotherapic applications
Yan, Jun (1991) An intelligent robot control system for physiotherapic applications. PhD thesis, Dublin City University.
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An intelligent robot control system for physiotherapic
applications has been developed. The intelligent robot
control system consists of a specially designed robotic
hand with built-in sensors, an interfacing module between
the robot system and the computer, an intelligent path
planning module and a fuzzy logic based intelligent
The robotic hand with the integrated palm and two fingers
has been used to perform the padding and kneading
opeartions. The sensory information of the robotic hand
have been used in the intelligent control process.
The intelligent path planning and control modules have
been constructed with the knowledge bases (KBS) and the
fuzzy logic based inference mechanism, which are able to
deal with uncertainties by manipulating the fuzzy terms.
Thus, with the fuzzy/linguistic input terms, the required
parameters can be generated for the path planning module.
The massaging path can be planned by using the KBS in the
intelligent path planning module.
While the task execution is monitored by the intelligent
control module. The intelligent control module
allows error-correction strategies to be formulated.
The required corrections can be carried out by using the
on-line KBS and fuzzy inference mechanism in the
intelligent control module.
Experimental results are presented, which show the
feasibility and the effectiveness of the designed
intelligent control system.
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