Robot-assisted Upper-limb Fuzzy Adaptive Passive Movement Training and Clinical Experiment
In the effort to make robot-assisted upper limb passive movement training effective for neurologic injuries suffered from stroke and spinal cord injury (SCI), a new fuzzy adaptive closed-loop supervisory control method for passive joint movement training is proposed. Firstly, high-level supervisory controller for the desired passive range of motion (PROM) is designed based on the impaired limbs joint motion recovery, and then low-level closed-loop position tracking controller is presented to drive the robot stably and smoothly to stretch the impaired limb to move along the predefined trajectory. The suggested strategy was applied to the four degrees of freedom (DOF) Whole Arm Manipulator (WAM) rehabilitation robot to evaluate its performance. Experimental results carried out on the 4-DOF WAM rehabilitation robot show the effectiveness and potentialities of the fuzzy adaptive passive movement control in clinical application.
rehabilitation robot position control clinical experiment
Lizheng Pan Aiguo Song Guozheng Xu
School of Instrument Science and Engineering, Southeast University, Nanjing, 210096,China College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, China
国际会议
合肥
英文
227-231
2011-09-23（万方平台首次上网日期，不代表论文的发表时间）