Active interaction control applied to a lower limb rehabilitation robot by using EMG recognition and impedance model
نویسندگان
چکیده
منابع مشابه
Iterative Learning Impedance for Lower Limb Rehabilitation Robot
This paper discusses the problem of squatting training of stroke patients. The main idea is to correct the patient's training trajectory through an iterative learning control (ILC) method. To obtain better rehabilitation effect, a patient will typically be required to practice a reference posture for many times, while most of active training methods can hardly keep the patients training with co...
متن کاملT-S Fuzzy Controller Applied to Lower Limb Rehabilitation Robot Actuated by Pneumatic Muscle Actuators
Since the 2-DOF rehabilitation robot actuated by pneumatic muscle actuators (PMAs) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of bladder containers, it is difficult to achieve excellent control performance using classical control methods. Here, this study proposes a novel Takagi-Sugeno(T-S) fuzzy approach to improve tracking performance. The T...
متن کاملVariable Impedance Control Based on Impedance Estimation Model with EMG Signals during Extension and Flexion Tasks for a Lower Limb Rehabilitation Robotic System
Recently with rapid aging of population and declining birthrate in many countries, public health burden associated with strokerelated disability in lower limbs has been increasing year by year [1,2]. The stroke could lead to life-long dependency on caregivers and a tremendous decrease of the quality of life (QOL). These factors are driving research work for more cost-effective methods for posts...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملParallel Robot for Lower Limb Rehabilitation Exercises
The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the a...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Industrial Robot: An International Journal
سال: 2014
ISSN: 0143-991X
DOI: 10.1108/ir-04-2014-0327