PID Control for the Robotic Exoskeleton Arm: Application to Rehabilitation

摘要：

The paper investigates the PID control of exoskeleton robot arm used for robot-assisted rehibilitation. The developed exoskeleton arm consists of 5 joints, which process merits of back drivability, precise positioning capabilities, and zero backlash due to its embedded Harmonic drive transmission (HDT) and Elmo driver. For the trajectory tracking, a control based on PID and implemented in Elmo servo driver has been developed. The experiments are conducted to verify the effectiveness of the proposed system and control approach.

关键词： Harmonic Drive Transmission PID exoskeleton arm rehabilitation

作者: Guangye Liang Wenjun Ye Qing Xie

作者单位: Dept of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China Dept of Rehabilitation, Luwan branch of Rui Jin Hospital, No.149, South Chongqing Road, Shanghai, P.

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4496-4501

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）