sEMG-based impedance control for lower-limb rehabilitation robot

2017 ◽  
Vol 11 (1) ◽  
pp. 97-108 ◽  
Author(s):  
Vahab Khoshdel ◽  
Alireza Akbarzadeh ◽  
Nadia Naghavi ◽  
Ali Sharifnezhad ◽  
Mahdi Souzanchi-Kashani
Keyword(s):  
Lower Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

2014 ◽  
Vol 672-674 ◽  
pp. 1770-1773 ◽  
Author(s):  
Fu Cheng Cao ◽  
Li Min Du
Keyword(s):  
Dynamic Response ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Control Method ◽  
Sliding Mode ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

scholarly journals A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Trinnachoke Eiammanussakul ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Lower Limb ◽  
Stroke Rehabilitation ◽  
Impedance Control ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Sitting Position ◽  
Rehabilitation Robots ◽  
Training Activities ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

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