Adaptive Admittance Control of Man-Robot Interaction Force for Lower Limb Exoskeleton Rehabilitation Robot

被引：3

作者：

Tu Y. ^{[1
,2
]}

Zhu A. ^{[1
,2
]}

Song J. ^{[1
,2
]}

Shen Z. ^{[1
,3
]}

Zhang X. ^{[1
,2
]}

Cao G. ^{[4
]}

机构：

[1] Shaanxi Key Laboratory of Intelligent Robots, Xi'an Jiaotong University, Xi'an

[2] Institute of Robotics & Intelligent Systems, Xi'an Jiaotong University, Xi'an

[3] Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi'an Jiaotong University, Xi'an

[4] Shenzhen Key Laboratory of Electromagnetic Control, Shenzhen University, Shenzhen, 518060, Guangdong

来源：

Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University | 2019年 / 53卷 / 06期

关键词：

Adaptive sliding mode control; Admittance control; Lower limb exoskeleton; Rehabilitation robot;

D O I：

10.7652/xjtuxb201906002

中图分类号：

学科分类号：

摘要：

The rehabilitation scheme based on passive training of standard gait cannot satisfy the rehabilitative training requirements of lower limb paralysis patients with residual muscle strength. A strategy of lower limb exoskeleton rehabilitation robot with human-robot interaction force adaptive control is hence proposed, and a rehabilitative training method is designed. This method takes the walking gait of healthy human body as a reference for the position control of the exoskeleton rehabilitation robot of lower limbs, and takes the wearer's own leg force as the force control constraint to intelligently control and adjust the gait curve according to the wearer's own leg strength, so as to better meet the wearer's rehabilitation training needs. Simulation results show that the adaptive force control mode can effectively adjust the human-robot interaction force in the rehabilitation process, and can adapt to a variety of different rehabilitation training requirements to greatly improve the rehabilitation treatment process of motor function recovery of injured limbs. © 2019, Editorial Office of Journal of Xi'an Jiaotong University. All right reserved.

引用

下载

页码：9 / 16

页数：7

共 18 条

[1] Wen Z., Qian J., Shen L., Trajectory adaptive sliding mode impedance control of lower limb rehabilitation robot, Robot, 33, 2, pp. 142-149, (2011)
[2] Chen Z., Huang Z., Application of "motor relearning" therapy in stroke rehabilitation, Chinese Journal of Rehabilitation Medicine, 22, 11, pp. 1053-1056, (2007)
[3] Esquenazi A., Talaty M., Packel A., Et al., The ReWalk powered exoskeleton to restore ambulatory function to individuals with thoracic-level motor-complete spinal cord injury, American Journal of Physical Medicine & Rehabilitation, 91, 11, pp. 911-921, (2012)
[4] Zeilig G., Weingarden H., Zwecker M., Et al., Safety and tolerance of the ReWalk<sup>TM</sup> exoskeleton suit for ambulation by people with complete spinal cord injury: a pilot study, The Journal of Spinal Cord Medicine, 35, 2, pp. 96-101, (2012)
[5] Colombo G., Joerg M., Schreier R., Et al., Treadmill training of paraplegic patients using a robotic orthosis, Journal of Rehabilitation Research and Development, 37, 6, pp. 693-700, (2000)
[6] Lunenburger L., Colombo G., Riener R., Biofeedback for robotic gait rehabilitation, Journal of Neuroengineering and Rehabilitation, 4, 1, pp. 1-11, (2007)
[7] Kawamoto H., Sankai Y., Power assist system HAL-3 for gait disorder person, International Conference on Computers for Handicapped Persons, pp. 196-203, (2002)
[8] Sankai Y., HAL: hybrid assistive limb based on cybernics, Robotics Research, pp. 25-34, (2010)
[9] Hu J., Hou Z., Chen Y., Et al., Lower limb rehabilitation robot and its interactive control method, Journal of Automation, 40, 11, pp. 2377-2390, (2014)
[10] Cao F., Xing X., Li Y., Et al., Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot, Journal of Jilin University (Engineering Edition), 46, 5, pp. 1602-1608, (2016)

← 1 2 →