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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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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Abstract 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.
AbstractList 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.
Author Wu Zhizheng
Wenjun Mi
Jinwu Qian
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  surname: Jinwu Qian
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  organization: Dept. of Precision Mech. Eng., Shanghai Univ., Shanghai, China
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Snippet Rehabilitation is the major therapy in stroke and spinal cord injured individuals. Robot-aided treadmill training has been applied for several years to assist,...
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SubjectTerms Adaptive control
admittance control
invertibility decoupling
Joints
Knee
rehabilitation robot
Robot kinematics
Simulation
Trajectory
Title A decentralized adaptive controller design for Lower Extremity Rehabilitation Robot
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