Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

被引：0
|
作者：
Wang, Hongbo [1 ,2 ]
Lu, Tingting [1 ]
Niu, Baoshan [1 ]
Yan, Hao [1 ]
Wang, Xincheng [1 ]
Chen, Jianyu [1 ]
Li, Yungui [1 ]
机构：
[1] Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao, Hebei, Peoples R China
[2] Minist Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao, Hebei, Peoples R China
来源：
PROCEEDINGS OF 2018 IEEE 4TH INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC 2018) | 2018年
关键词：
lower limbs rehabilitation robot; negative feedback; fuzzy PID; simulink;
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：
Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.
引用
收藏
页码：956 / 960
页数：5
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