Training Strategies for a Lower Limb Rehabilitation Robot Based on Impedance Control

被引：0

作者：

Hu, Jin ^{[1
]}

Hou, Zengguang ^{[1
]}

Zhang, Feng ^{[1
]}

Chen, Yixiong ^{[1
]}

Li, Pengfeng ^{[1
]}

机构：

[1] Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China

来源：

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2012年

关键词：

SYSTEM;

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper proposes three training strategies based on impedance control, including passive training, damping-active training and spring-active training, for a 3-DOF lower limb rehabilitation robot designed for patients with paraplegia or hemiplegia. Controllers with similar structure are developed for these training strategies, consisting of dual closed loops, the outer impedance control loop and the inner position/velocity control loop, known as position-based impedance control method. Simulation results verify that position-based impedance control approach is feasible to accomplish the training strategies.

引用

页码：6032 / 6035

页数：4

共 9 条

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