Design and control of a wearable hand rehabilitation robot
Long Cheng; Miao Chen; Zhengwei Li
发表期刊IEEE Access
2018
卷号6页码:74039 - 74050
摘要This paper proposes a wearable hand rehabilitation robot for assisting patients to do rehabilitation training such as the flexion and extension of fingers. This robot prototype has a modularized structure with nine degrees of freedom for the independent control of the patient’s fingers. To alleviate the weight applied on the patient’s hand and arm, the entire control system is placed in the patient’s backpack and the cable-driven approach is employed to achieve the long-distance power transmission. Because of the repetitive training manner and the existence of external disturbances, a controller combining the iterative learning control (ILC) and the active disturbance rejection control (ADRC) has been proposed for the control of the finger’s joints. The contributions of this paper lie in the robot’s modularized structure design and the proposed “ILC + ADRC” controller. Experimental results have verified the function of the proposed robot and demonstrated the satisfactory control performance achieved by the proposed controller.
关键词Hand rehabilitation exoskeleton cable-driven modularized structure active disturbance rejection controller (ADRC) iterative learning control (ILC)
DOI10.1109/ACCESS.2018.2884451
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/23166
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Long Cheng,Miao Chen,Zhengwei Li. Design and control of a wearable hand rehabilitation robot[J]. IEEE Access,2018,6:74039 - 74050.
APA Long Cheng,Miao Chen,&Zhengwei Li.(2018).Design and control of a wearable hand rehabilitation robot.IEEE Access,6,74039 - 74050.
MLA Long Cheng,et al."Design and control of a wearable hand rehabilitation robot".IEEE Access 6(2018):74039 - 74050.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Long Cheng]的文章
[Miao Chen]的文章
[Zhengwei Li]的文章
百度学术
百度学术中相似的文章
[Long Cheng]的文章
[Miao Chen]的文章
[Zhengwei Li]的文章
必应学术
必应学术中相似的文章
[Long Cheng]的文章
[Miao Chen]的文章
[Zhengwei Li]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。