Force control of wire driving lower limb rehabilitation robot
نویسندگان
چکیده
منابع مشابه
Parallel 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 کاملSliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer
Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is de...
متن کاملTrajectory planning and mechanic's analysis of lower limb rehabilitation robot.
A new rehabilitation robot was designed. The robot included a suspension mechanism, a drive unit, and an adjustment mechanism. Additionally, innovative weight loss mechanism increased the dynamical device so that it could be used with patients of varying lower extremity muscle strengths. The relationship of hip and knee angles with height, step length, and gait cycle was studied. It was develop...
متن کاملIterative 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 کاملThe design and control of a therapeutic exercise robot for lower limb rehabilitation: Physiotherabot
0957-4158/$ see front matter 2011 Elsevier Ltd. A doi:10.1016/j.mechatronics.2011.01.005 ⇑ Corresponding author. Tel.: +90 212 383 28 88; f E-mail addresses: [email protected], eakdoga [email protected], [email protected] (M.A This study explains the design and control of three degrees of freedom therapeutic exercise robot (Physiotherabot) for the lower limbs of a patient who...
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ژورنال
عنوان ژورنال: Technology and Health Care
سال: 2018
ISSN: 0928-7329,1878-7401
DOI: 10.3233/thc-174714