Research on active compliance control and experimentation of a horizontal lower limbs rehabilitation robot

Hongying Sun; Lixun Zhang; Changsheng Li

doi:10.3772/j.issn.1002-0470.2011.06.012

Research on active compliance control and experimentation of a horizontal lower limbs rehabilitation robot

Hongying Sun, Lixun Zhang^*, Changsheng Li

^*Corresponding author for this work

Harbin Engineering University

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

2 Citations (Scopus)

Abstract

To ensure training safety and comfort of the patients with dysfunction in lower limbs, an impedance controller was designed based on force feedback for a rehabilitation robot. The controller can make the robot have a certain degree of flexibility by adjusting the relationship between the end actuator position and force. The control model of the system was established, and the experimental research on it was done based on the dSPACE platform. The results showed that different stiffness and damping characteristics of the robot could be obtained by adjusting impedance parameters of the controller. And the effect of parameters on rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of the affected limb' recovery, so that the rehabilitation process can not only meet clinical needs but also has the submissive nature.

Original language	English
Pages (from-to)	624-628
Number of pages	5
Journal	Gaojishu Tongxin/High Technology Letters
Volume	21
Issue number	6
DOIs	https://doi.org/10.3772/j.issn.1002-0470.2011.06.012
Publication status	Published - Jun 2011
Externally published	Yes

Keywords

Active compliance control
Experimental research
Horizontal lower limbs rehabilitative robot
Impedance control

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10.3772/j.issn.1002-0470.2011.06.012

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abstract = "To ensure training safety and comfort of the patients with dysfunction in lower limbs, an impedance controller was designed based on force feedback for a rehabilitation robot. The controller can make the robot have a certain degree of flexibility by adjusting the relationship between the end actuator position and force. The control model of the system was established, and the experimental research on it was done based on the dSPACE platform. The results showed that different stiffness and damping characteristics of the robot could be obtained by adjusting impedance parameters of the controller. And the effect of parameters on rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of the affected limb' recovery, so that the rehabilitation process can not only meet clinical needs but also has the submissive nature.",

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AU - Sun, Hongying

AU - Zhang, Lixun

AU - Li, Changsheng

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AB - To ensure training safety and comfort of the patients with dysfunction in lower limbs, an impedance controller was designed based on force feedback for a rehabilitation robot. The controller can make the robot have a certain degree of flexibility by adjusting the relationship between the end actuator position and force. The control model of the system was established, and the experimental research on it was done based on the dSPACE platform. The results showed that different stiffness and damping characteristics of the robot could be obtained by adjusting impedance parameters of the controller. And the effect of parameters on rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of the affected limb' recovery, so that the rehabilitation process can not only meet clinical needs but also has the submissive nature.

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KW - Experimental research

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KW - Impedance control

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Research on active compliance control and experimentation of a horizontal lower limbs rehabilitation robot

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