CASIA OpenIR
The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment
Chen,Yixiong; Hu,Jin; Peng,Long; Hou,Zeng-guang
Source PublicationRobotics and Biomimetics
ISSN2197-3768
2014-10-02
Volume1Issue:1
Corresponding AuthorHou,Zeng-guang(hou@compsys.ia.ac.cn)
AbstractAbstractTo design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active compliance of the robot is established, and the patient’s voluntary effort to accomplish the training task is inspired. During the training process, the patient’s related muscles are applied with FES which provides an extra assistance to the patient. The intensity of the FES is properly chosen in order to induce a desired active torque which is proportional to the voluntary effort extracted from the electromyography signals of the related muscles using back propagation neural networks. This kind of enhancement serves as a positive feedback which reminds the patient of the correct attempt to fulfill the desired motion. FES control is conducted by a combination of neural network-based feedforward controller and a PD feedback controller. Simulation conducted using Matlab and the experiment with a spinal cord injury subject and a healthy subject have shown satisfactory results which verify the feasibility of this control strategy.
KeywordRehabilitation robot FES Impedance control
DOI10.1186/s40638-014-0002-7
Language英语
WOS IDBMC:10.1186/s40638-014-0002-7
PublisherSpringer Berlin Heidelberg
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/24436
Collection中国科学院自动化研究所
Corresponding AuthorHou,Zeng-guang
AffiliationState Key Laboratory of Management and Control for Complex Systems
Recommended Citation
GB/T 7714
Chen,Yixiong,Hu,Jin,Peng,Long,et al. The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment[J]. Robotics and Biomimetics,2014,1(1).
APA Chen,Yixiong,Hu,Jin,Peng,Long,&Hou,Zeng-guang.(2014).The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment.Robotics and Biomimetics,1(1).
MLA Chen,Yixiong,et al."The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment".Robotics and Biomimetics 1.1(2014).
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