Real-time Neuro-fuzzy Trajectory Generation for Robotic Rehabilitation Therapy

This thesis proposes a method for the design of a real-time neuro-fuzzy trajectory generator for the robotic rehabilitation of patients with upper limb dysfunction due to neurological diseases. The system utilizes a fuzzy-logic schema to introduce compliance into the human-robot interaction, and to allow the emulation of a wide variety of therapy techniques. This approach also allows for the fine-tuning of system dynamics using linguistic variables. The rule base for the system is trained using a fuzzy clustering algorithm and applied to experimental data gathered during traditional therapy sessions. The compliance rule base is combined with a hybrid neuro-fuzzy compensator to automatically tune the dynamics of the system. The trajectory generator is packaged as a platform-independent solution to facilitate the rehabilitation of patients using multiple manipulator configurations.MAS