Adaptive Velocity Field Control of Upper-limb Rehabilitation Robot

被引:0
作者
Fang, Xiao-Ke [1 ]
Han, Bing [1 ]
Wang, Jian-Hui [1 ]
Liu, Dan-Yang [1 ]
机构
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Peoples R China
来源
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词
Upper-limb rehabilitation robot; Velocity field control; Parameters adaptive; Contour following; NEUROREHABILITATION; EXOSKELETON;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Upper limb rehabilitation robot is used to assist in completing rehabilitation training for patients with upper limb disorder. It is inevitable that the control system is probably disrupted by the patients in the process of rehabilitation training so that the movement of the rehabilitation robot is not smooth. This problem is not conductive to rehabilitation. In view of the contour tracking method with smooth approximation properties, the velocity field control is proposed in this paper to solve the problem. Contour following tasks can be effectively encoded through the use of desired velocity fields. The parameter adaptive method is proposed in this paper to improve the robustness of the control system and meet the needs of different patients for rehabilitation training. The anti-interference ability and adaptive ability are enhanced by the velocity field control and parameter adaptive method. Analysis and simulation result shows that this control strategy can adapt to different patients and has good robustness and stability.
引用
收藏
页码:5438 / 5443
页数:6
相关论文
共 24 条
[1]  
Bergamasco Massimo, 2009, Applied Bionics and Biomechanics, V6, P115, DOI 10.1080/11762320902959250
[2]   Neurorehabilitation using the virtual reality based Rehabilitation Gaming System: methodology, design, psychometrics, usability and validation [J].
Cameirao, Monica S. ;
Bermudez i Badia, Sergi ;
Duarte Oller, Esther ;
Verschure, Paul F. M. J. .
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 2010, 7
[3]   Development of an Exoskeleton Haptic Interface for Virtual Task Training [J].
Carignan, Craig ;
Tang, Jonathan ;
Roderick, Stephen .
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, :3697-3702
[4]  
Chiu T.-C., 1994, COORDINATION CONTROL
[5]  
De Mauro A., 2011, P 1 INT WORKSHOP ENG, V727, P48
[6]  
Erdogan A, 2012, IEEE INT C INT ROBOT, P1587, DOI 10.1109/IROS.2012.6386099
[7]   Passive Velocity Field Control of a Forearm-Wrist Rehabilitation Robot [J].
Erdogan, Ahmetcan ;
Satici, Aykut Cihan ;
Patoglu, Volkan .
2011 IEEE INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR), 2011,
[8]   SUEFUL-7: A 7DOF Upper-Limb Exoskeleton Robot wlith Muscle-Model-Oriented EMG-Based Control [J].
Gopura, R. A. R. C. ;
Kiguchi, Kazuo ;
Li, Yang .
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, :1126-1131
[9]   Rehabilitation [J].
Gresham, GE ;
Alexander, D ;
Bishop, DS ;
Giuliani, C ;
Goldberg, G ;
Holland, A ;
KellyHayes, M ;
Linn, RT ;
Roth, EJ ;
Stason, WB ;
Trombly, CA .
STROKE, 1997, 28 (07) :1522-1526
[10]   The Impact of Timing and Dose of Rehabilitation Delivery on Functional Recovery of Stroke Patients [J].
Huang, Hsiu-Chen ;
Chung, Kao-Chi ;
Lai, Der-Chung ;
Sung, Sheng-Feng .
JOURNAL OF THE CHINESE MEDICAL ASSOCIATION, 2009, 72 (05) :257-264