| Design and control of a 3-DOF rehabilitation robot for forearm and wrist | |
Luo, Lincong; Peng, Liang ; Hou, Zengguang; Wang, Weiqun
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| 2017 | |
| Conference Name | Engineering in Medicine and Biology Society (EMBC), 2017 39th Annual International Conference of the IEEE |
| Conference Date | 2017 |
| Conference Place | jeju korea |
| Abstract | This paper presents a 3-DOF compact rehabilitation robot, involving mechanical structure design, control system design and gravity compensation analysis. The robot can simultaneously provide assistance for pronation/supination(P/S), flexion/extension(F/E) and adduction/abduction(A/A) joints rehabilitation training. The P/S and F/E joints are designed to be driven by cable transmission to gain a high backdrivability, and an adjustment plate is adopted to decrease the distance between the rotation axis of F/E joint of the human wrist and the robot. In addition, gravity compensation is considered to offset the impact of self-gravity on the performance of the controller. A “moving window” control strategy based on impedance control is proposed and implemented on the robot. A comparison between the “moving window” control and classical impedance control indicates that the former has more potential to stimulate the voluntary efforts of the participant, and has a less limitation moving in a fixed reference trajectory. Meanwhile, the results also validate the feasibility and safety of the wrist robot system. |
| Document Type | 会议论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/19994 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Recommended Citation GB/T 7714 | Luo, Lincong,Peng, Liang,Hou, Zengguang,et al. Design and control of a 3-DOF rehabilitation robot for forearm and wrist[C],2017. |
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| File Name/Size | DocType | Version | Access | License | ||
| C2017_EMBC_罗林聪_Desig（1180KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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