Implementation of Active Training for an Upper-limb Rehabilitation Robot Based on Impedance Control

被引：0
|
作者：
Peng, Liang [1 ]
Hou, Zeng-Guang [1 ]
Kasabov, Nikola [2 ]
Peng, Long [1 ]
Hu, Jin [1 ]
Wang, Weiqun [1 ]
机构：
[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
[2] Auckland Univ Technol, Knowledge Engn & Discovery Res Inst, Auckland, New Zealand
来源：
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年
关键词：
Active Training; Rehabilitation Robot; Force Feedback; Impedance Control; THERAPY;
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：
Many rehabilitation robots have been designed to alleviate the conflict between increasing number of post-stroke patients and shortage of therapists. Active training is the main feature of advanced rehabilitation robots, which has been proved to be more effective than simple passive movement training. This paper presents the implementation of active training on a 2-DOF upper-limb rehabilitation robot, which can assist the shoulder and elbow joint rehabilitation training of post-stroke patients. The controller is built based on impedance control, which can provide a compliant human-robot reaction. The implementation of active training is combined with a virtual reality game, and the average error between the actual and target reaction force is 1.41 +/- 0.79 N in the X axis, and 1.22 +/- 0.91 N in the Y axis.
引用
收藏
页码：5453 / 5458
页数：6
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