A patient-driven control method for lower-limb rehabilitation robot

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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Control method for lower -limb rehabilitation robot joint flexibility

2010 3rd International Conference on Computer Science and Information Technology ◽

10.1109/iccsit.2010.5564534 ◽

2010 ◽

Author(s):

Qiuhao Zhang ◽

Xuebin Xing ◽

Hongche Guo

Keyword(s):

Lower Limb ◽

Control Method ◽

Rehabilitation Robot ◽

Joint Flexibility ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Force Control Based on Model Predictive for Lower Limb Rehabilitation Training

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.738-739.991 ◽

2015 ◽

Vol 738-739 ◽

pp. 991-994

Author(s):

Fu Cheng Cao ◽

Hong Wu Qin

Keyword(s):

Force Control ◽

Lower Limb ◽

Control Method ◽

Control Strategies ◽

Industrial Robot ◽

Control Law ◽

Rehabilitation Robot ◽

Patient Centered ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force.

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Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/09544062211020344 ◽

2021 ◽

pp. 095440622110203

Author(s):

Ke-yi Wang ◽

Yan-lin Wang ◽

Peng-cheng Yin

Keyword(s):

Feedback Control ◽

Lower Limb ◽

Force Feedback ◽

Control Method ◽

Rehabilitation Robot ◽

Mapping Model ◽

Feedback Control Method ◽

Simulation Results ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

A double-end lower limb rehabilitation robot is introduced in the paper, which can realize the rehabilitation training of the abduction and abduction, internal rotation and external rotation of human lower limb. The kinematics and dynamics of the robot are analyzed. Based on the motion trajectory planning of the lower limb rehabilitation robot, the motion state and dynamic state of the cable are analyzed. In order to realize the good remote cooperative control between the rehabilitation physician terminal and the patient rehabilitation terminal, the bilateral PD control method and the patient terminal force feedback control method based on the absolute stability theory are analyzed by using the dual-port network model. The simulation results show that the performance of the patient terminal force feedback control method is excellent when the force on the moving platform and the external interference force are changed suddenly. The mapping model of double-ended mechanism is established in the SimMechanics. The simulation results show that the mapping model of double-ended mechanism has a good position tracking ability and their workspaces can meet the requirements of trajectory mapping. The remote collaborative rehabilitation training experiment was done on the established experimental platform. The experimental result shows that the experiment system has a good tracking performance under the guidance of the patient terminal force feedback control method. The feasibility and operability of the remote rehabilitation cooperation technology are verified.

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A Treadmill Speed Adaptive Control Method for Lower Limb Rehabilitation Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.655-657.1158 ◽

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.

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