A Master-slave Control System for Lower Limb Rehabilitation Robot with Pedal-actuated Exoskeleton

被引：0

作者：

Huang, Gao ^{[1
]}

Fan, Jiameng ^{[1
]}

Zhang, Weimin ^{[1
]}

Xiao, Tony ^{[2
]}

Meng, Fei ^{[1
]}

Ceccarelli, Marco ^{[3
]}

Huang, Qiang ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Mechatron Engn, Intelligent Robot Inst, 5 Nandajie, Beijing 100081, Peoples R China

[2] Univ Illinois, Coll Engn, Urbana, IL 61801 USA

[3] Univ Cassino & South Latium, Lab Robot & Mechatron DICeM, Via Biasio 43, I-03043 Cassino, Fr, Italy

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR) | 2016年

关键词：

BILATERAL TELEOPERATION; DESIGN; PERFORMANCE; STABILITY;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper, a master-slave control system is proposed and implemented for the lower limb rehabilitation robot with pedal-actuated exoskeleton with the aim of coordinating motion of the exoskeleton and wheelchair. The rehabilitation system is designed to let users to walk around and exercise simultaneously. Particularly, the master motion is started by the users intend and the slave motion is activated by the motion of the exoskeleton along with users legs and the motion of the wheelchair. The results of experiments show the proposed method can help users to walk around and exercise their legs simultaneously and effectively.

引用

页码：533 / 538

页数：6

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