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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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Abstract

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 control module. 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.

Item Type:Thesis (PhD)
Date of Award:1991
Refereed:No
Supervisor(s):El Baradie, M.A. and Hashmi, Saleem
Uncontrolled Keywords:Robotics; Robot design and construction; Robotic control
Subjects:Engineering > Mechanical engineering
DCU Faculties and Centres:DCU Faculties and Schools > Faculty of Engineering and Computing > School of Mechanical and Manufacturing Engineering
Use License:This item is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 3.0 License. View License
ID Code:19491
Deposited On:14 Oct 2013 14:29 by Celine Campbell. Last Modified 29 Jul 2014 10:48

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