CASIA OpenIR  > 智能制造技术与系统研究中心  > 智能机器人
A Patient-driven Control Methodd for Lower-limb Rehabilitation Robot
Wang,xiaonan; Lu,Tao; Wang,Shijun; Gu,Jiaojiao; Yuan,Kui
2016-08
Conference NameIEEE International Conference on Mechatronics and Automation
Source PublicationIEEE International Conference on Mechatronics and Automation
Conference Date2016-8
Conference PlaceHarbin,China
Abstract Lower-limb rehabilitation robots can support the training of patients with neurological gait disorders. Compared to the robot-driven control strategy which permits patients to remain passive during the training, Patient-driven control strategy can motivate the patient's participation and accelerate the rehabilitation process. In this paper, based on a selfdeveloped lower-limb rehabilitation robot, a patient-driven control method is developed and implemented to realize a patient-in-charge gait training strategy. During the training, the proposed control algorithm adapts the motion pattern of the robot according to the estimated patient’s voluntary efforts and increases the patient’s movement freedom by a certain amount of robot compliance. By adjusting the parameters, the degree of robot compliance can be set based on the patient’s voluntary abilities. Experiment results are presented to evaluate the basic principal and technical function of the proposed method and show positive for improving the subject’s voluntary contribution during the training.
KeywordRehabilitation Robot Human-robot Interaction Adaptive Control
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12487
Collection智能制造技术与系统研究中心_智能机器人
Corresponding AuthorLu,Tao
Affiliation中国科学院自动化研究所
Recommended Citation
GB/T 7714
Wang,xiaonan,Lu,Tao,Wang,Shijun,et al. A Patient-driven Control Methodd for Lower-limb Rehabilitation Robot[C],2016.
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