CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Dynamics Based Fuzzy Adaptive Impedance Control for Lower Limb Rehabilitation Robot
Liang, Xu1,2; Wang, Weiqun1; Hou, Zengguang1,2; Xu, Zihao3; Ren, Shixin1,2; Wang, Jiaxing1,2; Peng, Liang1
2018
Conference NameInternational Conference on Neural Information Processing
Conference Date2018.12
Conference Place柬埔寨
Abstract

Human-robot interaction control plays a significant role in
the research and clinical application of rehabilitation robots. A fuzzy
adaptive variable impedance control strategy is proposed in this paper.
Firstly, a dynamic model is established by using the Lagrangian method
and the traditional friction model, which can be used to predict humanrobot interaction forces. Then, a fuzzy adaptive variable impedance control strategy based on the human-robot system dynamic model is designed. In the designed control strategy, the interaction forces, position
and velocity errors are taken as the system inputs, and a fuzzy adaptive law is used to adjust the damping and stiffness coefficients. Finally, the dynamics identification experiments and simulation of the fuzzy
adaptive variable impedance control strategy are carried out, by which
performance of the proposed method is validated.
 

KeywordFuzzy adaptive impedance Dynamics
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/39701
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
3.Lanzhou Jiaotong University
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liang, Xu,Wang, Weiqun,Hou, Zengguang,et al. Dynamics Based Fuzzy Adaptive Impedance Control for Lower Limb Rehabilitation Robot[C],2018.
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