Control System Design of Upper Limb Rehabilitation Robot
Control System Design of Upper Limb Rehabilitation Robot
- New search for: Yu, Gang
- New search for: Qian, Jin Wu
- New search for: Shen, Lin Yong
- New search for: Zhang, Ya Nan
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.
Document information
Control System Design of Upper Limb Rehabilitation Robot
Applied Mechanics and Materials ; 310 ; 477-480
2013-02-27
4 pages
Article (Journal)
Electronic Resource
English
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