Active and Passive Control of an Exoskeleton with Cable Transmission for Hand Rehabilitation

This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is bas...

Full description

Saved in:
Bibliographic Details
Published in2009 2nd International Conference on Biomedical Engineering and Informatics pp. 1 - 5
Main Authors Wang Shuang, Li Jiting, Zhang Yuru, Wang Ju
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Actuators
Cable shielding
Error correction
Exoskeletons
Force control
Force feedback
Impedance
Mechanical cables
Position control
Virtual reality
Online AccessGet full text

Cover

More Information
Summary:This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is based on impedance control. The compensation controller is used for compensating the position error caused by deflection of the cable and sheath in the mechanical transmission. To realize the compensation, the spring model is used to represent the elasticity of the cable and sheath. With the proposed method, the maximum joint position error is about 1.5 degree, which satisfies the requirement in hand rehabilitation application. The experimental result demonstrates the validity of the propose method.
ISBN:9781424441327
1424441323
ISSN:1948-2914
DOI:10.1109/BMEI.2009.5305113