Implementation of an Autonomous Assistive Robotic System for Transcranial Magnetic Stimulation

Prakarn Jaroonsorn, Paramin Neranon*, Pruittikorn Smithmaitrie, Charoenyut Dechwayukul


Department of Mechanical Engineering, Faculty of Engineering, Prince of Songkla University, Hat Yai, Songkhla, 90112, Thailand.

Corresponding Author Email: [email protected]

This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

This paper presents the development of a robotized Transcranial Magnetic Stimulation (TMS) system, as robotic assistance brings crucial benefits of the TMS to provide a more adequate, accuracy and reliable manner. A 6-DOF KUKA KR-16 robot, an ATI-multi-axis force/torque sensor and a Kinect 3D camera were used to develop the robotized TMS. All electrical signals were strategically processed by a host ROS-computer. Real-time hybrid position/force control based on Proportional Integral and Derivative (PID) control and Fuzzy Logic Control (FLC) was successfully implemented to ensure effective human-robot collaboration. The results claimed that the performance of the control schemes based on the PID and FLC control approaches were evidently acceptable for the robotized TMS application. However, in-depth observation exposed that the FLC method resulted to be slightly superior to the PID control by actively compensating for the dynamics in the non-linear system.