TY - JOUR
T1 - A hybrid force position control for a upper limb rehabilitation robot of series mechanism
AU - Liu, Yali
AU - Ji, Linhong
N1 - Publisher Copyright:
© 2016 Owned by the authors, published by EDP Sciences.
PY - 2016/1/29
Y1 - 2016/1/29
N2 - Interactive rehabilitation robot which has better interaction is one main method to improve the patients' motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients' state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UECM was developed to improve the patients' voluntary motion in exercises by controlling the robot to provide external forces according to the patients' forces and motion velocity. The hybrid force position controlled robot will be used for stroke patients under different states since its interactive control method.
AB - Interactive rehabilitation robot which has better interaction is one main method to improve the patients' motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients' state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UECM was developed to improve the patients' voluntary motion in exercises by controlling the robot to provide external forces according to the patients' forces and motion velocity. The hybrid force position controlled robot will be used for stroke patients under different states since its interactive control method.
UR - http://www.scopus.com/inward/record.url?scp=84969785471&partnerID=8YFLogxK
U2 - 10.1051/matecconf/20164003002
DO - 10.1051/matecconf/20164003002
M3 - Conference article
AN - SCOPUS:84969785471
SN - 2261-236X
VL - 40
JO - MATEC Web of Conferences
JF - MATEC Web of Conferences
M1 - 03002
T2 - 2015 International Conference on Mechanical Engineering and Electrical Systems, ICMES 2015
Y2 - 16 December 2015 through 18 December 2015
ER -