A hybrid force position control for a upper limb rehabilitation robot of series mechanism

Yali Liu, Linhong Ji

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number03002
JournalMATEC Web of Conferences
Volume40
DOIs
Publication statusPublished - 29 Jan 2016
Externally publishedYes
Event2015 International Conference on Mechanical Engineering and Electrical Systems, ICMES 2015 - Singapore, Singapore
Duration: 16 Dec 201518 Dec 2015

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