Iterative Impedance Learning Control for Ankle Rehabilitation

被引：0
|
作者：
Qian, Kun [1 ]
Zhang, Zhiqiang [1 ]
Chakrabarty, Samit [2 ]
Xie, Shengquan [1 ]
机构：
[1] Univ Leeds, Fac Engn, Sch Elect & Elect Engn, Leeds LS2 9JT, W Yorkshire, England
[2] Univ Leeds, Fac Biol Sci, Sch Biomed Sci, Leeds LS2 9JT, W Yorkshire, England
来源：
2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) | 2021年
关键词：
D O I：
10.1109/M2VIP49856.2021.9665027
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, impedance learning control is investigated for conducting robot-aided ankle rehabilitation. Under repetitive interaction tasks, the ankle dynamic is described as a time-varying iterative system with unknown mechanical impedance parameters. The gradient following approach and iterative learning algorithm are employed to obtain a desired impedance model. With learned parameters, an inner torque controller with robot dynamic compensation is implemented for tracking the modified trajectory. Experimental results with an ankle rehabilitation robot prototype validate the efficacy of proposed method.
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页数：6
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