Experiment study of fuzzy impedance control on horizontal lower limbs rehabilitation robot

2011 ◽  
Author(s):  
Hongying Sun ◽  
Lixun Zhang ◽  
Xiaoping Hu ◽  
Lihui Tian
Keyword(s):  
Impedance Control ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Experiment Study

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.

Design and control of a cable-driven rehabilitation robot for upper and lower limbs

Robotica ◽  
2021 ◽  
pp. 1-37
Author(s):  
Efe Levent Oyman ◽  
Muhammed Yusuf Korkut ◽  
Cüneyt Ylmaz ◽  
Zeki Y. Bayraktaroglu ◽  
M. Selcuk Arslan
Keyword(s):  
Healthy Subject ◽  
Closed Loop ◽  
Force Feedback ◽  
Impedance Control ◽  
Experimental Studies ◽  
Experimental Results ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
And Control

Abstract The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.

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.

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

scholarly journals Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

2017 ◽  
pp. 301-312 ◽  
Author(s):  
Chi Zhang ◽  
Jiwei Hu ◽  
Qingsong Ai ◽  
Wei Meng ◽  
Quan Liu
Keyword(s):  
Impedance Control ◽  
Rehabilitation Robot ◽  
Pneumatic Muscles ◽  
Ankle Rehabilitation

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.

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