A decentralized adaptive controller design for Lower Extremity Rehabilitation Robot

Rehabilitation is the major therapy in stroke and spinal cord injured individuals. Robot-aided treadmill training has been applied for several years to assist, enhance and evaluate neurological and orthopedic rehabilitation. This paper presents a compliant patient cooperative control approach for Lo...

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Bibliographic Details
Published inProceedings of the 10th World Congress on Intelligent Control and Automation pp. 3753 - 3757
Main Authors Wenjun Mi, Wu Zhizheng, Jinwu Qian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2012
Subjects
Adaptive control
admittance control
invertibility decoupling
Joints
Knee
rehabilitation robot
Robot kinematics
Simulation
Trajectory
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Summary:Rehabilitation is the major therapy in stroke and spinal cord injured individuals. Robot-aided treadmill training has been applied for several years to assist, enhance and evaluate neurological and orthopedic rehabilitation. This paper presents a compliant patient cooperative control approach for Lower Extremity Rehabilitation Robot (LERR) with automatic gait adaption. Firstly, based on nonlinear inverbility decoupling theory the system is decoupled into some independent second-order integral systems. Then based on the decoupled sub-systems, the admittance and adaptive control methods are further investigated for the gait trajectory planning and tracking. Finally, the performance of the proposed controller is verified in the MATLAB-Adams co-simulation environment.
ISBN:9781467313971
1467313971
DOI:10.1109/WCICA.2012.6359098