Enpm808J Rehabilitation Robotics Lecture #1 Anindo Roy, PHD

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ENPM808J
Rehabilitation Robotics
Lecture #1
Anindo Roy, PhD

Administrivia
About this course…
• This course will introduce you to the exciting field of rehab robotics
 Fairly infant field (started in 1984, MIT Newman Lab)
 Note “introduce”: you won’t become an expert, but will have knowledge to either
 Make informed decision to switch careers or start parallel, related research
 Undertake graduate research & study
 Start a bar conversation
• What this course is about:

 Basics of control systems as used by different rehab robots
 Fundamentals of biomechanics and instrumented outcomes testing
 Focus on lower extremity robotics w/ focus on stroke rehabilitation
 Why some robots fail, others do not
 Exposure to social & cognitive robots
 Exposure to clinical study design
 Success stories, many failures (recent clinical trials)
• What this course is not about:
 Assistive technologies (those that substitute function, not rehabilitate)
 Prosthetics, brain machine interfaces, wheelchair technologies etc.
• You should not be taking this course if

 You have previously taken ENME444 “Assistive Technologies”
 Significant overlap (ENME444 majority focuses on rehab robotics)
 Exception (uniqueness of ENPM808J) – rigorous impedance control
 You are expecting a mathematically rigorous course
 This course is information heavy, math light
 Exception – fairly rigorous treatment of control systems
 You expect to learn about all types of rehab robotics
 Focus on lower extremity robotics (you’ll understand later in the course)
 Upper extremity robots only discussed in context (impedance control, clinical findings)
 Even for exposure, cannot cover the entire field in 15-16 lectures
• Be prepared to
 Attend every lecture
 Information heavy – missing anything will be hard to cover later on your own
 Read journal articles
 Only way to learn about latest rehab robotics research esp. clinical studies
• Non-uniform weightage – for some parts of the course, I will

 Spend a lot of time on
 Control systems - position control, impedance control (but much less on force control)
 Lower extremity robotics (esp. ankle robotics)
 Clinical studies
 Breeze through
 Social & cognitive robots, Biomechanics
 Expect patience (for the sake of your peers) on basics of control systems
 Heterogenous audience (many of you are in industry and/or forgotten control systems)
• Something cool: expert guest lectures
 No more than 10-15% (~2 lectures)
 Content experts who will present knowledge critical to the course
 Guest Lecture #1: The biology, epidemiology, impact of neurological disease e.g. stroke
 Guest Lecture #2: Upper extremity e.g. arm robotics research from a PT’s perspective
 Treat guest lectures w/ (at least) same importance as my lectures!
• More about guest lectures:

 Tremendously popular in my ENME444 course (“Assistive Robotics”)
 Subject matter presented by practicing experts (neurologist researcher, PT)
 Guest Lecture #1: Biology, epidemiology, impact of stroke
 You don’t know/understand the disease = You cannot design an effective robot. Period.
 Guest Lecture #2: UE Robotics from a PT’s perspective
 State-of-art clinical findings, success etc. of arm robots in stroke rehabilitation
 To what extent PTs use robots? (this is also a measure of tech adoption, hence success)
Syllabus
• Posted on CANVAS
• No textbook
 My mentors at MIT started this field
 Knowledge has been “passed down” through training, research
 Some book chapters, some journal articles, some conference proceedings
 All reading materials will be posted on CANVAS at appropriate times
 Reading materials not an absolute necessity, but lot to lose if you do not read them!
 Course is culmination of 10+ years of lecture materials from
 Invited talks
 Professional (e.g. IEEE) symposia and/or workshops
• Students with disabilities

 I will provide appropriate accommodations e.g. extra time for home works, exams
 Student should document w/ DSS Office ahead of time, then inform me ASAP
Suggested reading(s)
• Control Systems
 Position Control Systems (Lectures 2-4)

 Any undergraduate feedback control textbook would do (but not really needed)
• Control Systems
 Interaction Control (Lectures 5-6)

 Hogan1985 “Impedance Control: An Approach to Manipulation: Part I - Theory” Journal of
Dynamic Systems, Measurement, and Control
 Hogan1985 “Impedance Control: An Approach to Manipulation: Part II - Implementation”
Journal of Dynamic Systems, Measurement, and Control
 Hogan1985 “Impedance Control: An Approach to Manipulation: Part III - Applications”
Journal of Dynamic Systems, Measurement, and Control
 Hogan & Buerger 2005 “Impedance and Interaction Control” Robotics and Automation
Handbook
• Rehabilitation Robotics
 Lower Extremity (Ankle) Robotics
 Roy et al. 2009 “Robot-aided neurorehabilitation: a novel robot for ankle rehabilitation” IEEE
Transactions on Robotics (Lecture 9)
 Forrester et al. 2011 “Ankle training with a robotic device improves hemiparetic gait after a
stroke” Neurorehabilitation & Neural Repair (Lecture 10)
 Roy et al. 2011 “Measurement of passive ankle stiffness in subjects with chronic hemiparesis
using a novel ankle robot” Journal of Neurophysiology (Lecture 11)
 Forrester et al. 2014 “Modular ankle robotics training in early subacute stroke a randomized
controlled pilot study” Neurorehabilitation & Neural Repair (Lecture 10)
 Roy et al. 2013 “Anklebot-assisted locomotor training after stroke: A novel deficit-adjusted
control approach” IEEE International Conference on Robotics & Automation (ICRA)
(Lecture 11)
 Roy et al. 2014 “Facilitating push-off propulsion: A biomechanical model of ankle robotics
assistance for plantarflexion gait training in stroke” IEEE International Conference on
Biomedical Robotics and Biomechatronics (BioRob) (Lecture 11)
 Forrester/Roy et al. 2016 “Task-specific ankle robotics gait training after stroke: a
randomized pilot study” Journal of NeuroEngineering & Rehabilitation (Lecture 11)
• Rehabilitation Robotics
 Upper Extremity (Arm) Robotics

 Lo et al. 2011 “Robot Assisted Therapy for Long-Term Upper-Limb Impairment After
Stroke,” New England Journal of Medicine (Lecture 12)
 Rohrer et al. 2004 “Submovements Grow Larger, Fewer, and More Blended during Stroke
Recovery,” Motor Control (Lecture 12)
 Ferraro et al. 2003 “Robot Aided Sensorimotor Arm Training Improves Outcome in Patients
with Chronic Stroke,” Neurology (Lecture 12)
 Krebs et al. 2007 “Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation,” IEEE
Transaction Neural Systems and Rehabilitation Engineering (Lecture 12)
• Social and Cognitive Robotics
 Neuro-Developmental Disorders
 Tapus et al. 2012 “Children with autism social engagement in interaction with Nao, an
imitative robot: A series of single case experiments” Interaction Studies (Lecture 13)
 Cognitive & Elderly Care

 McColl et al. 2013 “Brian 2.1: A socially assistive robot for the elderly and cognitively
impaired” IEEE Robotics & Automation Magazine (Lecture 13)
 Mental Health
 Rabbitt et al. 2015 “Integrating socially assistive robotics into mental healthcare
interventions: Applications and recommendations for expanded use” Clinical Psychology
Review (Lecture 13)
• Clinical Study Design
 Upper Extremity Robotics

 Lo et al. 2011 “Robot Assisted Therapy for Long-Term Upper-Limb Impairment After
Stroke,” New England Journal of Medicine (Lecture 14/15)
 Krebs and Hogan 2012 “Robotic Therapy: The Tipping Point” Journal of Physical Medicine &
Rehabilitation (Lecture 14/15)
 Lower Extremity Robotics

 Roy et al. 2011 “Measurement of passive ankle stiffness in subjects with chronic hemiparesis
using a novel ankle robot” Journal of Neurophysiology (Lecture 14/15)
 Forrester et al. 2011 “Ankle training with a robotic device improves hemiparetic gait after a
stroke” Neurorehabilitation & Neural Repair (Lecture 14/15)
 Forrester et al. 2014 “Modular ankle robotics training in early subacute stroke a randomized
controlled pilot study” Neurorehabilitation & Neural Repair (Lecture 14/15)
 Forrester/Roy et al. 2016 “Task-specific ankle robotics gait training after stroke: a
randomized pilot study” Journal of NeuroEngineering & Rehabilitation (Lecture 14/15)
Schedule of Classes
Lecture Topic Week
Fundamentals of Robotics 1
Position-regulated control systems: Part I 2
Position-regulated control systems: Part II 3
Fundamentals of Interaction Control: Part I 4
Fundamentals of Interaction Control: Part II 5
Guest Lecture: Biology of stroke 6
Rehabilitation and Biomechanics 7
Lower Extremity Rehabilitation Robotics: Part I 8
Lower Extremity Rehabilitation Robotics: Part II 9
Lower Extremity Rehabilitation Robotics: Part III 10
Guest Lecture: Upper Extremity Rehabilitation Robotics 11
Social and Cognitive Robots: Socially Assistive robots (SARs) 12
Clinical Study Design & Guidelines 13-14
Knowledge / Skills Set
Lecture Topic Skill
Fundamentals of Robotics Appreciate why inverse kinematics is a problem particularly for rehabilitation robots
Position-regulated control systems Refresh (perhaps after a long time) concepts in feedback control
Decision making on when its best to use position controllers for rehabilitation robots
New technique(s) such as control partitioning
Fundamentals of Interaction Control Think in terms of energy/power flow rather than the more intuitive (what we are used to) force or motion
Decision making of when its best to use impedance control and when not to
Guest Lecture: Biology of stroke Be part of a select group of engineers who understand biology
Observe mock neurological exam
Tips to visually identify walking disorders, their characteristics, and possibly their neurological cause
Rehabilitation and Biomechanics Understand the walking cycle; identify gait deficits
LE Rehabilitation Robotics Basic skills to design, conduct pre-clinical testing (bench validation), and clinically test LE robots
When to under-actuate; what is back-drivability
How to translate clinical needs/requirements of the disease into the right robot
What to do when tasks become more complex or when faced with a different population – how to remove the
bottleneck(s) to come up with meaningful and efficacious engineering solution(s)
Guest Lecture: UE Rehabilitation Robotics Grasp concepts behind arm robotics
Why some arm robots succeeded; what are pitfalls
Social and Cognitive Robots Get exposed to a very infant field of SARs for neuro-developmental, cognitive disorders, and mental health
Clinical Study Design & Guidelines Basic understanding to design clinical studies in rehabilitation robotics
Lecture structure
• Each lecture is 2 hour and 40 min
 Divided into two 1-hour and 15 min lectures
 One break of 10 min each
 Otherwise hard to sustain student interest and focus.
 Hard for me to stand for ~2.5 hours.
 Brief review at the beginning, summary at the end.
 Lecture slides will be posted on CANVAS after lecture: encourage listening, note taking
• Note about my teaching style: I tend to ask a lot of questions as I teach

 Q&A not meant to
 Intimidate or quiz you, or put you “in a spot”
 Your responses will not count toward your grade/assessment
 Q&A is meant to
 Get the class to interact w/ me (student-instructor), and w/ each other (student-student)
 Help reinforce to me, and to you that you are learning/understanding
 Discuss a concept, new research idea, alternate direction
Grading
• Two homework assignments (15% each, total 30%), One mid-term exam
(30%), One final exam (40%)
 Mid-term and final exams will be open-book, take-home. Solutions are to be
returned by email (details will be announced at an appropriate time).
 Note on Late Assignments: Assignments submitted up to 24 hours late will receive
75% of the credit; those >24 hours late will receive 0% no credit. Exceptions will be
made in accordance with University policy regarding these major grading events.
 I am generally pretty generous partial credit if you get the concepts right and get
the final answer wrong. I am equally brutal if you get the concept totally wrong.
Grading Event Topic(s) Assigned Week

Homework 1 Fundamentals of robots, position control systems Week 4 Week 5
Midterm Exam Fundamentals of robots, position control systems, Week 8 Week 9
biomechanics
Homework 2 Impedance control, LE robotics, social & cognitive robots Week 13 Week 14
Final Exam All materials Week 15 Week 15
Accessibility
• I am very accessible
 Quickest by email (short question, clarification); usually I respond within 24 hours
 Use aroy1975@umd.edu, or aroy@som.umaryland.edu.
 Less quick: schedule appointment to meet prior to lecture
 Schedule appointment at least 1-2 weeks ahead of time.
 Be clear about your needs, but don’t be shy of asking anything.
 Urgent: over telephone (410) 200-0894
 Use only for urgent enquiries e.g. clarification(s) for mid-term, final exam(s) etc.
• For students taking this class remotely

 I can video-conference e.g. Skype should the need arise
 Must schedule ahead of time (~1-2 weeks)
• Remember: my goal is to help you learn basics of rehabilitation robotics,

and not to “weed out students”!
About me…
• I wear many “hats”
 PhD – Biological Control Systems
 Postdoctoral Fellowships – GeorgiaTech (Biomedical Eng.), MIT (Rehab Robotics)
 Associate Professor – Neurology (UM School of Medicine)
 Adjunct Associate Professor – Mechanical Eng. (UM School of Engineering)
• Above are not bragging rights, but to be highly interdisciplinary in the field
of rehab robotics is a necessity not a choice!
 Why? Because you have to work with neurologists, neuroscientists, physical
therapists, biomechanists, motor control/learning scientists etc.
 Got to “speak their language” in addition to preserving/applying your own expertise
So, what do I professionally do?
I am a rehabilitation roboticist
•  Design, build, and program robots that can be used to help

people recover from severe physical trauma or neurological
disabilities (therapeutic robots)
•  Work closely with clinicians to test the clinical efficacy of

these devices; design novel training paradigms to maximize
short- and long-term patient benefits
Fundamentals of Robotics
Main Topics
Fundamentals of
Robo0cs

Robo0c Control Systems
Main Topics
Fundamentals of
Robo0cs

hMp://bio-‐xtreme.com/
Main Topics
Fundamentals of
Robo0cs

hMp://bio-‐xtreme.com/
Social Robots
hMp://robo$cs.usc.edu/interac$on/? hMps://www.youtube.com/
l=Research:Projects:graded_cueing:ind watch?v=LoqU0igk_qQ
ex
Sub Topics
•  Disability and its consequences

•  Robo$c solu$ons
–  Mechanical design
–  Control systems
–  User interface
Sub Topics

•  Robo$c solu$ons
–  Mechanical design To truly understand how robots
behave and execute tasks, you
–  Control systems need to first understand how
–  User interface they are controlled!
Guest Lectures
•  Learn about disability from renowned experts

–  Neurologic injury (e.g. Stroke, Parkinson’s)
–  Cogni$ve impairments
•  “Touch/Feel-‐See” – actual rehabilita$on
robots, prosthe$cs etc. into the classroom!

Be one of the select few engineers who can
think across disciplines: TREMENDOUS BENEFIT!
Textbook and References
• Books (optional)
– C. Bodine. Assis1ve Technology and Science (The SAGE Reference

Series on Disability: Key Issues and Future Direc1ons). SAGE
Publica$ons, Inc, 2013.
– R. Riener. Rehabilita1on Robo1cs (Founda1ons and Trends(r) in
Robo1cs). Now Publishers Inc, 2013.
• Addi0onal References
– L. Zollo, K. Wada, H.F.M. Van der Loos. Special issue on assis$ve
robo$cs, Robo1cs & Automa1on Magazine, 20(1), 2013.
– S. S. Kommu. (Ed.) Rehabilita1on Robo1cs, InTech, 2007. (open
access)
– S. Robitaille. The Illustrated Guide to Assis1ve Technology &
Devices. Demos Health, 2009.
Robo$cs Basics
Overview
•  What is a robot?

•  Why use robots?
•  Where robots are being used?
•  Robo$cs Terminology
What is a Robot?
What is a Robot?
•  Embodiment

[1]
[1] hMp://wiki.icub.org/wiki/The_iCub_IROS_'10_workshop

What is a Robot?
•  Embodiment

Physical Form or Structure

Course does not consider
“Virtual Bots” (Computer
Science)
[1]

What is a Robot?
•  Embodiment
•  Sense

[2] [3]
[4]
[5]
[1]
[2] hMp://www.calit2.uci.edu/calit2-‐newsroom/itemdetail.aspx?cguid=776d6aa6-‐0a83-‐458c-‐a770-‐c034d041fa50
[3] hMp://www.vision-‐systems.com/ar$cles/2012/10/epix-‐stereo-‐camera-‐captures-‐8-‐to-‐12-‐bit-‐images-‐at-‐up-‐to-‐340-‐frames-‐per-‐second.html
[4] hMp://letsmakerobots.com/content/hc-‐sr04-‐ultrasonic-‐sensor
[5] hMp://www.designworldonline.com/6dof-‐sensors-‐improve-‐mo$on-‐sensing-‐applica$ons/

What is a Robot?
•  Embodiment
•  Sense Learn and engage w/ environment
Visual, tac;le, hap;c etc.

[2] [3]
[4]
[5]
[1]

What is a Robot?
•  Embodiment
•  Sense
•  Think [6]

[2] [3]
[4]
[5]
[1]
[6] hMp://www.signal11.us/io.html
What is a Robot?
Tricky concept
•  Embodiment Pre-‐programmed
•  Sense to execute
instruc;ons (e.g.
•  Think [6]
Assembly
robots)? Machine
learning (IBM
Watson)?
[2] [3]
[4]
[5]
[1]
What is a Robot?
•  Embodiment
•  Sense
•  Think [6]
•  Act
[2] [3]
[4] [7]
[5]
[1] OLen, actua;on

[3]
hMp://www.vision-‐systems.com/ar$cles/2012/10/epix-‐stereo-‐camera-‐captures-‐8-‐to-‐12-‐bit-‐images-‐at-‐up-‐to-‐340-‐frames-‐per-‐second.html
What is a Robot?
•  Embodiment
•  Sense
•  Think [6]
•  Act
[2] [3]
[4] [7]
[5]
[1]
[3]
hMp://www.vision-‐systems.com/ar$cles/2012/10/epix-‐stereo-‐camera-‐captures-‐8-‐to-‐12-‐bit-‐images-‐at-‐up-‐to-‐340-‐frames-‐per-‐second.html
Rearrange: Closed-‐Loop System
Think
Act
Controller (“Brain”)
Actuators (“Movers”)
[6]
Sense
Sensors
Rearrange: Closed-‐Loop System
Think
Act
Controller (“Brain”)
Actuators (“Movers”)
[6]
Update
Update “ac0on”
“thought”
Sense
Sensors
What is a robot?

A machine that senses, thinks, and acts [Bekey 2005]

hMp://www.kuka-‐
robo$cs.com/en/
products/
industrial_robots/
small_robots/
kr6_r700_fivve/
start.htm

What is a robot?


hMp://www.kuka-‐
robo$cs.com/en/
products/
industrial_robots/
small_robots/
kr6_r700_fivve/
start.htm

What is a robot?


hMp://www.kuka-‐ hMp://
robo$cs.com/en/
products/ www.clearpathrobo$cs.
com/husky/
industrial_robots/
small_robots/
kr6_r700_fivve/
start.htm

What is a robot?


hMp://www.kuka-‐ hMp:// hMp://www.irobot.com/
robo$cs.com/en/
com/husky/
us/learn/defense/
sugv.aspx
industrial_robots/
small_robots/
kr6_r700_fivve/
start.htm

What is a robot?


hMp://www.kuka-‐ hMp:// hMp://www.irobot.com/ hMp://
robo$cs.com/en/ www.bostondynamics.
com/husky/
us/learn/defense/
sugv.aspx com/
industrial_robots/ robot_bigdog.html
small_robots/
kr6_r700_fivve/
start.htm

What is a robot?


hMp://www.kuka-‐ hMp:// hMp://www.irobot.com/ hMp://
robo$cs.com/en/ www.bostondynamics.
com/husky/
us/learn/defense/
sugv.aspx com/
industrial_robots/ robot_bigdog.html
small_robots/
kr6_r700_fivve/
start.htm
hMp://spectrum.ieee.org/
automaton/robo$cs/
humanoids/honda-‐
robo$cs-‐unveils-‐next-‐
genera$on-‐asimo-‐robot
What is a robot?


“A machine (some$mes resembling a human being in
appearance) designed to func$on in place of a living agent,
esp. one which carries out a variety of tasks automa0cally or
with a minimum of external impulse.”

-‐ Oxford English Dic1onary
Overview

Why use Robots?
For tasks that are…
●  Hazardous ●  Repe$$ous ●  Dexterous

LAPD Bomb Squad Automated car painting Automotive welding
Can you think of any other reason(s)??

Why use Robots?
For tasks that are…
●  Hazardous ●  Repe$$ous ●  Dexterous

LAPD Bomb Squad Automated car painting Automotive welding
Autonomy Massed Task-‐Specific Repe00ons Precision
Can you think of any other reason(s)??

Overview

Robot Applica$ons

●  Assembly ●  Welding ●  Pain$ng ●  Space
www.robots.com www.thefabricator.com blog.robo$q.com www.ny$mes.com

●  Planetary explora$on ●  Inspec$on ●  Reconnaissance ●  Entertainment
us.aving.net www.pcmag.com
www.fantom-‐xp.com www.aeMopgun.com
Can you think of any other broad applica1ons??

•  Assembly
–  hMp://www.youtube.com/watch?
v=1X0-‐58OuFhE&list=PLZuerZ307Bb7i5NDGJBr2zNtVZf2Nf9NY
•  Welding
–  hMp://www.youtube.com/watch?v=ebX5hU_MDAY
•  Salamandra robot
–  hMp://www.youtube.com/watch?v=g9Y21XuyMbM
•  BigDog
–  hMp://www.youtube.com/watch?v=cNZPRsrwumQ
Mobile Robots
•  Wheeled
–  hMp://www.youtube.com/watch?v=6q8PStSavr4
–  hMp://www.youtube.com/watch?v=H0KQF50vV5E
–  hMp://www.youtube.com/watch?v=FZYnIsLNz3c
•  Tracked
–  hMp://www.youtube.com/watch?v=KauGGwSZTOs
•  Legged
v=xqMVg5ixhd0&list=PLZuerZ307Bb59dC|_upkmbDnG8GTpjVl
v=R7ezXBEBE6U&list=PLZuerZ307Bb59dC|_upkmbDnG8GTpjVl
v=chPanW0QWhA&list=PLZuerZ307Bb59dC|_upkmbDnG8GTpjVl
v=mclbVTIYG8E&list=PLZuerZ307Bb59dC|_upkmbDnG8GTpjVl
–  hMp://www.youtube.com/watch?v=nUQsRPJ1dYw
Overview

Typical Sta$onary Robots
•  Ar$culated
Robots with
rotary joints
ABB PUMA KUKA

•  Ar$culated
Robots with
rotary joints
ABB PUMA KUKA
•  SCARA (Selec$vely Compliant Assembly Robot Arm)
Rigid along Z-‐axis

Flexible / Compliant in X-‐Y plane
http://www.directindustry.com/
prod/tm-robotics/assembly-scara-
robots-20959-138997.html
•  Ar$culated
Robots with
rotary joints
ABB PUMA KUKA
Rigid along Z-‐axis

Flexible / Compliant in X-‐Y plane
•  Cartesian coordinate (Gantry) http://www.directindustry.com/

prod/tm-robotics/assembly-scara-
robots-20959-138997.html
Principal axes of control have

linear mo0on, are orthogonal
http://www.robotmatrix.org/CartesianGantryRobot.htm
Typical Sta$onary Robots (Contd.)
•  Ar$culated
–  hMp://www.youtube.com/watch?v=tjOhGqOH}g
–  hMp://www.youtube.com/watch?v=kEed8DVO21I
–  hMp://www.youtube.com/watch?v=flyEY7P48D0

–  hMp://www.youtube.com/watch?v=vKD20BTkXhk
•  Cartesian coordinate (Gantry)

–  hMp://www.youtube.com/watch?v=sRMJxam2X8s
–  hMp://www.youtube.com/watch?v=qyRKcW7jnfo
Mechanism Anatomy
•  Links are rigid parts

•  Joints permit relative motion between links
Joints
Joints
•  Revolute Y
X
Z
Z
Provide single axis rota0on
Also referred to as pin or hinge joint

Joints
•  Revolute
X
Z
Joints
•  Revolute
Orthogonal links
X
X
Z
Joints
•  Revolute Orthogonal links
X
X
Z
Sliding mo0on along one axis

•  Prisma$c
X
X
Orthogonal links
Desired Degrees of Freedom
•  How many degrees of freedom (DOF) are needed to

posi0on an object in space?

Recall:

DOF is the number of independent ways by which a
dynamic system can move, without viola;ng any
constraints imposed on it

In other words…

What is the minimum informa;on needed to have
complete posi;onal informa;on about an object?

–  3D Dimensional Case
•  3 DOF for posi$oning (x, y, z)
–  2 Dimensional Case (Planar case)

•  2 DOF for posi$oning (x, y)
Arm Configura$ons
Cartesian Cylindrical Polar SCARA Articulated
Number of revolute Joints Biologically

inspired
3 DOF Wrist
Y
X
Z
End Effectors
Physical system to

be acted upon or
be controlled
End effectors are key to task execu;on and control

Forward Kinema$cs
•  Given joint Given
parameters,
determine the
final end effecter
loca$on (x, y, z) ?
Local coordinate
system
Global (or World)
coordinate system
Forward Kinema$cs
parameters,
determine the
loca$on (x, y, z) ?
Local coordinate
system
Global (or World)
coordinate system
Time Invariant Time Variant
Forward Kinema$cs
parameters,
determine the
loca$on (x, y, z) ?
…But exactly how?
…Geometry!

Example: Link lengths
Inverse Kinema$cs
•  Given desired end ?

?
effecter posi$on and
orienta$on determine ?
the joint parameters
Given
…Could there be an “issue” here?

…Human arm!

Try moving your shoulder & elbow
while keeping wrist posi0on the same!
Inverse Kinema$cs Solu$ons
•  Inverse kinema$cs may produce

–  One solu$on
–  Mul$ple solu$on
–  No solu$on One “issue”?

REDUDANCY!!
Think!

Most biological systems have evolu;onary redundancy
built in at the level of the joint and muscle
Inverse Kinema$cs Solu$ons
•  Inverse kinema$cs may produce

–  One solu$on
–  Mul$ple solu$on
–  No solu$on
Another “issue”?

INFEASIBLE!!
Think!

Most biological systems have anatomical feasibility built
in at the level of the joints
Mul$ple Solu$on Case
Just mul0ple (two) solu0ons?

Mul$ple Solu$on Case
Infinite
elbow points
Actually, NO
Infinite solu0ons!
Infinite Solu$on Case: The math behind it
Infinite Solu$on Case: The math behind it..
Infinite Solu$on Case: The math behind it..
For given (x, y): 0 ≤ θ1, θ2 ≤ π/2 (Infinite solu0ons)

Example: if a1 = 1, a2 = 1, and x = 1, then

1 = cos(θ1) + cos(θ2)

Suppose θ1 is constrained to say, θ1 = π/2, then

cos(θ2) = 1 i.e. θ1 = 2nπ, where n = 0, 1, 2, …
No Solu$on Case
•  The selected loca$on is outside the robot

workspace (to be defined later)
x > a1 + a2

No Solu$on Case
If x > a1 + a2, then the problem is reduced to the following:

Find (θ1, θ2) such that:

a1cos(θ1) + a2cos(θ2) > a1 + a2

Since |cos(θ1)| ≤ 1, it follows that

|a1cos(θ1)| ≤ a1, |a2cos(θ2)| ≤ a2, so by Triangle Inequality,

|a1cos(θ1) + a2cos(θ2)| ≤ a1 + a2, so that (θ1, θ2) = Φ
Workspace
•  The set of loca$ons that can be reached by

the robot i.e. all possible solu$ons to the
equa$ons
In case of mul0ple including infinite solu0ons, it is possible to
generate a narrower set or even a unique solu;on by imposing
task or physical constraints…HOW??
How can uniqueness be generated?
Suppose that one joint angle is fixed as θ1 = β. Then, the
equa0on is reduced to:

x = a1cosβ + a2cos(θ2) Is this unique? NO! Cosine is Bijec;ve
How can uniqueness be generated?
Now suppose the second link is allowed movement only in the first
quadrant i.e. 0 ≤ θ2 ≤ 1. Then,

x = a1cosβ + a2cos(θ2) is unique.

Why? Because by imposing 0 ≤ θ2 ≤ 1, cosine becomes 1-‐1 mapping
Jacobian: Rela$ng Veloci$es
•  Given joint veloci$es

determine the desired
end effecter veloci$es
Similar to the concept of

forward kinema0cs except with
veloci;es instead of posi0ons
Jacobian: Rela$ng Veloci$es
•  Given joint veloci$es

determine the desired
end effecter veloci$es
An operator that relates end effector (both linear or

transla0onal, as well as rota0onal) to joint veloci0es…
onen expressed as a matrix operator
Example
Robot Controllers
•  Posi$on (Point-‐to-‐Point, path) Control
–  Tracking problem in which controller acts to

ensure that output posi$on(s) conform to set
point(s) or trajectory, per some criteria e.g. error
Robot Controllers
•  Force Control
–  Same concept as posi$on control but output

variable of interest is force (or torque)
Robot Controllers

•  Impedance Control
–  Controller acts to modulate the dynamical

rela$onship between posi1on and force (recall:
s$ffness, or mechanical impedance) as required
by the task(s)
Robot Controllers

•  Impedance Control
The gold standard for human-‐robot physical

interac0on control i.e. when robots act and
work in close physical contact with humans
(Contact Robo;cs)

Enpm808J Rehabilitation Robotics Lecture #1 Anindo Roy, PHD

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34

Anindo Roy, PhD

• What this course is about:

• You should not be taking this course if

• Non-uniform weightage – for some parts of the course, I will

• More about guest lectures:

• Students with disabilities

 Position Control Systems (Lectures 2-4)

 Interaction Control (Lectures 5-6)

 Upper Extremity (Arm) Robotics

 Cognitive & Elderly Care

 Upper Extremity Robotics

 Lower Extremity Robotics

• Note about my teaching style: I tend to ask a lot of questions as I teach

Grading Event Topic(s) Assigned Week

• For students taking this class remotely

• Remember: my goal is to help you learn basics of rehabilitation robotics,

• Design, build, and program robots that can be used to help

• Work closely with clinicians to test the clinical efficacy of

Robo0c Control Systems

• Disability and its consequences

• Disability and its consequences

• Learn about disability from renowned experts

– C. Bodine. Assis1ve Technology and Science (The SAGE Reference

• What is a robot?

[1] OLen, actua;on

• What is a robot?

Can you think of any other reason(s)??

Autonomy Massed Task-­‐Speciﬁc Repe00ons Precision

Can you think of any other reason(s)??

• What is a robot?

www.robots.com www.thefabricator.com blog.robo$q.com www.ny$mes.com

Can you think of any other broad applica1ons??

• What is a robot?

ABB PUMA KUKA

ABB PUMA KUKA

• SCARA (Selec$vely Compliant Assembly Robot Arm)

Rigid along Z-­‐axis

ABB PUMA KUKA

• SCARA (Selec$vely Compliant Assembly Robot Arm)

Rigid along Z-­‐axis

• Cartesian coordinate (Gantry) http://www.directindustry.com/

Principal axes of control have

• Cartesian coordinate (Gantry)

• Links are rigid parts

Also referred to as pin or hinge joint

• Revolute Orthogonal links

Sliding mo0on along one axis

• How many degrees of freedom (DOF) are needed to

• How many degrees of freedom (DOF) are needed to

• How many degrees of freedom (DOF) are needed to

• How many degrees of freedom (DOF) are needed to

– 2 Dimensional Case (Planar case)

Cartesian Cylindrical Polar SCARA Articulated

Number of revolute Joints Biologically

Physical system to

End eﬀectors are key to task execu;on and control

• Given joint Given

• Given joint Given

• Given joint Given

…But exactly how?

• Given desired end ?

•  Design, build, and program robots that can be used to help

•  Work closely with clinicians to test the clinical efficacy of

•  Disability and its consequences

•  Disability and its consequences

•  Learn about disability from renowned experts

•  What is a robot?

•  What is a robot?

Autonomy Massed Task-‐Speciﬁc Repe00ons Precision

•  What is a robot?

•  What is a robot?

•  SCARA (Selec$vely Compliant Assembly Robot Arm)

Rigid along Z-‐axis

•  SCARA (Selec$vely Compliant Assembly Robot Arm)

Rigid along Z-‐axis

•  Cartesian coordinate (Gantry) http://www.directindustry.com/

•  Cartesian coordinate (Gantry)

•  Links are rigid parts

•  Revolute Orthogonal links

•  How many degrees of freedom (DOF) are needed to

•  How many degrees of freedom (DOF) are needed to

•  How many degrees of freedom (DOF) are needed to

•  How many degrees of freedom (DOF) are needed to

–  2 Dimensional Case (Planar case)

•  Given joint Given

•  Given joint Given

•  Given joint Given

•  Given desired end ?

•  Inverse kinema$cs may produce

•  Inverse kinema$cs may produce

•  The selected loca$on is outside the robot

•  The set of loca$ons that can be reached by

•  Given joint veloci$es

•  Given joint veloci$es

•  Posi$on (Point-‐to-‐Point, path) Control

–  Tracking problem in which controller acts to

•  Posi$on (Point-‐to-‐Point, path) Control

–  Same concept as posi$on control but output

•  Posi$on (Point-‐to-‐Point, path) Control

–  Controller acts to modulate the dynamical

•  Posi$on (Point-‐to-‐Point, path) Control

The gold standard for human-‐robot physical