Tracking control method for circularly switching active and passive training modes of rehabilitation robot
The invention discloses a tracking control method for circularly switching active and passive training modes of a rehabilitation robot. The method is characterized in that according to different interference environments generated on a man-machine system in the active training process and the passiv...
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Main Authors | , , , , , , |
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Format | Patent |
Language | Chinese English |
Published |
19.03.2024
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Subjects | |
Online Access | Get full text |
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Summary: | The invention discloses a tracking control method for circularly switching active and passive training modes of a rehabilitation robot. The method is characterized in that according to different interference environments generated on a man-machine system in the active training process and the passive training process of a convalescent, a switching dynamics model of the rehabilitation robot is constructed, and a random configuration network with switching characteristics is designed to estimate the interference environments; an error tracking system for active and passive training is established, and a man-machine system can realize cyclic switching between active training and passive training under the condition of meeting the shortest average training time; an STM32F411 series single-chip microcomputer is used for providing an output PWM signal to a motor driving module, so that the robot can help a rehabilitative person to carry out active and passive circulation switching training specified by a doctor. Ac |
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Bibliography: | Application Number: CN202311737152 |