Human-centred adaptive control of lower limb rehabilitation robot based on human–robot interaction dynamic model

2021 ◽  
Vol 162 ◽  
pp. 104340
Author(s):  
Di Shi ◽  
Wuxiang Zhang ◽  
Wei Zhang ◽  
Linhang Ju ◽  
Xilun Ding
Keyword(s):  
Adaptive Control ◽  
Dynamic Model ◽  
Lower Limb ◽  
Human Robot Interaction ◽  
Rehabilitation Robot ◽  
Robot Interaction ◽  
Interaction Dynamic ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals An Advanced Adaptive Control of Lower Limb Rehabilitation Robot

2018 ◽  
Vol 5 ◽  
Author(s):  
Yihao Du ◽  
Hao Wang ◽  
Shi Qiu ◽  
Wenxuan Yao ◽  
Ping Xie ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Lower Limb ◽  
Rehabilitation Robot ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

A Treadmill Speed Adaptive Control Method for Lower Limb Rehabilitation Robot

2013 ◽  
Vol 655-657 ◽  
pp. 1158-1163
Author(s):  
Jing Wen Wu ◽  
Lin Yong Shen ◽  
Ya Nan Zhang ◽  
Jin Wu Qian
Keyword(s):  
Adaptive Control ◽  
Lower Limb ◽  
Control Method ◽  
Sagittal Plane ◽  
Force Measurement ◽  
Rehabilitation Robot ◽  
Rehabilitation Training ◽  
Treadmill Speed ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Robot-assisted rehabilitation training on a treadmill is a popular research direction in recent years. And it will replace the artificial rehabilitation training to become a major rehabilitation training method for patients with lower limb action impairments. However, in the existing rehabilitation system, treadmill run in the constant speed. It has to change the speed manually rather than adjust according to the patients’ active consciousness. In the paper, we proposed a treadmill speed adaption control method for Lower Limb Rehabilitation Robot. A pull pressure sensor is used to detect human’s movement trends. The data are calculated through non-linear gain and then sent to the speed controller in the treadmill according to the characteristics that the hip of human body is fixed on the robot in the walking direction of the sagittal plane. Based on this principle, we designed a force measurement structure and verified the control method by experiment. The result shows that the control method can satisfy adaptive control of the treadmill speed.

Recent Advances on Horizontal Lower Limb Rehabilitation Robot

2017 ◽  
Vol 10 (2) ◽  
Author(s):  
Jingang Jiang ◽  
Xuefeng Ma ◽  
Biao Huo ◽  
Xiaoyang Yu ◽  
Xiaowei Guo ◽  
...  
Keyword(s):  
Lower Limb ◽  
Rehabilitation Robot ◽  
Recent Advances ◽  
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.

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