Lower limb rehabilitation robot control based on human gait data and plantar reaction force

被引：0

作者：

Ge, Yifei ^{[1
]}

Dan, Yongping ^{[1
]}

Wang, Aihui ^{[1
]}

Zhang, Shuaishuai ^{[1
]}

机构：

[1] Zhongyuan Univ Technol, Sch Elect & Informat Engn, Zhengzhou 450007, Peoples R China

来源：

2020 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS) | 2020年

关键词：

Human gait data; Plantar reaction force; Lower limb rehabilitation robot; Motion capture platform; EXOSKELETON; RECOVERY; STROKE;

D O I：

10.1109/icamechs49982.2020.9310077

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this paper, to improve the safety and availability of rehabilitation training for patients, a control scheme for Lower limb rehabilitation robot (LLRR) based on human gait data and plantar reaction force is proposed. First, the real normal human gait data obtained by motion capture platform (MCP) is fed to the designed control system, and the plantar reaction force is fed to the LLRR after dynamic calculation. Then, a controller based on joint angle and angular velocity tracking error is designed to realize the trajectory tracking. Finally, for a robot simulation model, the effectiveness of the proposed method is confirmed based on the simulation results.

引用

页码：286 / 289

页数：4

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