Implementation of active training for an upper-limb rehabilitation robot based on impedance control

2015 ◽  
Author(s):  
Liang Peng ◽  
Zeng-Guang Hou ◽  
Nikola Kasabov ◽  
Long Peng ◽  
Jin Hu ◽  
...  
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation ◽  
Active Training

Control System Design of Upper Limb Rehabilitation Robot

2013 ◽  
Vol 310 ◽  
pp. 477-480 ◽  
Author(s):  
Gang Yu ◽  
Jin Wu Qian ◽  
Lin Yong Shen ◽  
Ya Nan Zhang
Keyword(s):  
Control System ◽  
Upper Limb ◽  
Impedance Control ◽  
Medical Personnel ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Simulation And Experiment ◽  
Limb Rehabilitation ◽  
Active Training

In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.

Fuzzy Impedance Control of Upper Limb Rehabilitation Robot*

2020 ◽  
Author(s):  
Daiyan Zhang ◽  
Mingxing Lin ◽  
Chuanqi Ban ◽  
Boyang Lian
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

A novel backstepping adaptive impedance control for an upper limb rehabilitation robot

2019 ◽  
Vol 80 ◽  
pp. 106465 ◽  
Author(s):  
Jing Bai ◽  
Aiguo Song ◽  
Ting Wang ◽  
Huijun Li
Keyword(s):  
Upper Limb ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Adaptive Impedance Control ◽  
Limb Rehabilitation
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