Control System Design of Upper Limb Rehabilitation Robot
In traditional iatrical method,the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training.To make the medical personnel work easily and improve the effect of rehabilitation training,the rehabilitation robot was adopted.And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished.Then finished the analysis,simulation,and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system.The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory,and active training which followed patients awareness of movement.
rehabilitation robot impedance control fuzzy PID kinematic analysis kinetic analysis rehabilitation training
Gang Yu Jinwu Qian Linyong Shen Yanan Zhang
Department of Precision Mechanical Engineering Shanghai University Shanghai 200072 China
国际会议
石家庄
英文
477-480
2012-10-26（万方平台首次上网日期，不代表论文的发表时间）