TY - GEN
T1 - Experiment study of impedance control on horizontal lower limbs rehabilitation robot
AU - Zhang, Lixun
AU - Sun, Hongying
AU - Li, Changsheng
PY - 2010
Y1 - 2010
N2 - Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain degree of flexibility by adjusting the relationship of the end actuator position and force. Experiment study is conducted on the right leg's mechanism. Curves of position error and torque under different control parameters are given, and the effect of controller parameters on the rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of recovery training, so that the rehabilitation training process not only can meet clinical recovery needs of disabled patients on the lower limbs but also has submissive nature.
AB - Rehabilitation Robot is a typical man-machine cooperation robot, which can drive the affected limbs to carry out various motor function recovery trainings within the same workspace of patients. To ensure the safety and comfort of the affected limbs during the training process, the system controller is designed based on the impedance control principle, thus the controller can make the robot has a certain degree of flexibility by adjusting the relationship of the end actuator position and force. Experiment study is conducted on the right leg's mechanism. Curves of position error and torque under different control parameters are given, and the effect of controller parameters on the rehabilitation training was also analyzed. The impedance parameters of the controller can be adjusted at different stages of recovery training, so that the rehabilitation training process not only can meet clinical recovery needs of disabled patients on the lower limbs but also has submissive nature.
KW - Compliant motion
KW - Experimental research
KW - Horizontal lower limbs rehabilitative robot
KW - Impedance control
UR - http://www.scopus.com/inward/record.url?scp=77955737068&partnerID=8YFLogxK
U2 - 10.1109/ICINFA.2010.5512094
DO - 10.1109/ICINFA.2010.5512094
M3 - Conference contribution
AN - SCOPUS:77955737068
SN - 9781424457021
T3 - 2010 IEEE International Conference on Information and Automation, ICIA 2010
SP - 1421
EP - 1425
BT - 2010 IEEE International Conference on Information and Automation, ICIA 2010
T2 - 2010 IEEE International Conference on Information and Automation, ICIA 2010
Y2 - 20 June 2010 through 23 June 2010
ER -