Control System Design for an Upper-Limb
Rehabilitation Robot
期刊名称： Advanced Robotics赤峰学院学报编辑部
zingtv作者： Guozheng Xu,Aiguo Song,Huijun Li
年份： 2011年
紫外可见漫反射光谱
期号： 第1-2期
法制时空
关键词： REHABILITATION ROBOT;PARAMETER IDENTIFICATION;FUZZY
2016年5月11日
LOGIC;POSITION CONTROL;IMPEDANCE CONTROL
摘要：Control system implementation is one of the major difficulties in rehabilitation robot design. The purpose of our study is to present newly developed control strategies for an upper-limb rehabilitation robot. The Barrett WAM Arm manipulator is used as the main hardware platform for the functional reco
干尸
very training of the past-stroke patient. Passive and active recovery training have been implemented on the WAM Arm. A fuzzy-based PD position control strategy is proposed for the passive recovery exercise to control the WAM Arm stably and smoothly to stretch the impaired limb to move along predefined trajectories. An adaptive impedance force controller is employed in the active motion mode in which a fuzzy logic regulator is used to adjust the desired impedance between the robot and impaired limb to generate adaptive force in
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