Design for the contact force planner in upper limb rehabilitant robot based on fuzzy control and impedance control

Yan Ni Wang; Bao Tong Zhu; Ya Ping Dai

doi:10.15918/j.tbit1001-0645.2015.08.008

Design for the contact force planner in upper limb rehabilitant robot based on fuzzy control and impedance control

Yan Ni Wang
, Bao Tong Zhu
, Ya Ping Dai^*

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology
Chinese Academy of Sciences

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

The most fitting force is crucial for stroke patients' upper limb by the rehabilitation robot to train. However, in the existed force planner, the contact force is too mutational to fit the training demand. A kind of force planner was proposed to generate the gradual changed force in this paper. The method combines fuzzy control and impedance control to improve the mutational force. Simulation and experiment results show that the adopted method can be confirmed safer and more comfortable.

Original language	English
Pages (from-to)	805-809
Number of pages	5
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	35
Issue number	8
DOIs	https://doi.org/10.15918/j.tbit1001-0645.2015.08.008
Publication status	Published - 1 Aug 2015

Keywords

Contact force
Fuzzy control
Impedance control
Rehabilitation robot

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10.15918/j.tbit1001-0645.2015.08.008

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abstract = "The most fitting force is crucial for stroke patients' upper limb by the rehabilitation robot to train. However, in the existed force planner, the contact force is too mutational to fit the training demand. A kind of force planner was proposed to generate the gradual changed force in this paper. The method combines fuzzy control and impedance control to improve the mutational force. Simulation and experiment results show that the adopted method can be confirmed safer and more comfortable.",

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AU - Dai, Ya Ping

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N2 - The most fitting force is crucial for stroke patients' upper limb by the rehabilitation robot to train. However, in the existed force planner, the contact force is too mutational to fit the training demand. A kind of force planner was proposed to generate the gradual changed force in this paper. The method combines fuzzy control and impedance control to improve the mutational force. Simulation and experiment results show that the adopted method can be confirmed safer and more comfortable.

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KW - Fuzzy control

KW - Impedance control

KW - Rehabilitation robot

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Design for the contact force planner in upper limb rehabilitant robot based on fuzzy control and impedance control

Abstract

Keywords

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