A Patient-driven Control Methodd for Lower-limb Rehabilitation Robot
Wang,xiaonan; Lu,Tao; Wang,Shijun; Gu,Jiaojiao; Yuan,Kui
2016-08
会议名称IEEE International Conference on Mechatronics and Automation
会议录名称IEEE International Conference on Mechatronics and Automation
会议日期2016-8
会议地点Harbin,China
摘要 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.
关键词Rehabilitation Robot Human-robot Interaction Adaptive Control
收录类别EI
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12487
专题智能制造技术与系统研究中心_智能机器人
通讯作者Lu,Tao
作者单位中国科学院自动化研究所
推荐引用方式
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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