A Resistance Compensation Control Algorithm for a Cable-Driven Hand Exoskeleton for Motor Function Rehabilitation

被引：0
|
作者：
Wang, Shuang [1 ]
Li, Jiting [1 ]
Zheng, Ruoyin [1 ]
机构：
[1] Beihang Univ, State Key Lab Virtual Real Technol, Beijing, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PT II | 2010年 / 6425卷
关键词：
Hand rehabilitation; active control mode; resistance compensation; cable/sheath transmission; hand exoskeleton;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The resistance compensation, especially the friction compensation in the Bowden cable transmission is a difficult issue to be handled. Aimed to the resistance reduction requirement in the active rehabilitative motion, a resistance compensation control method is proposed. Based on the simplified transmission model, the resistance, including the cable friction as well as the mechanical moment of inertial, is formulated. To realize the compensation, force sensors are used to measure the force exerted by the human fingertip. With the proposed algorithm, the maximum finger-exerted force is reduced to less than one third of before. The experimental result demonstrates the validity of the proposed method.
引用
收藏
页码：398 / 404
页数：7
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