With the increase in the number of stroke patients, there is a growing demand for rehabilitation training. Robot-assisted training is expected to play a crucial role in meeting this demand. To ensure the safety and comfort of patients during rehabilitation training, it is important to have a patient-cooperative compliant control system for rehabilitation robots. In order to enhance the motion compliance of patients during rehabilitation training, a hierarchical adaptive patient-cooperative compliant control strategy that includes patient-passive exercise and patient-cooperative exercise is proposed. A low-level adaptive backstepping position controller is selected to ensure accurate tracking of the desired trajectory. At the high-level, an adaptive admittance controller is employed to plan the desired trajectory based on the interaction force between the patient and the robot. The results of the patient–robot cooperation experiment on a rehabilitation robot show a significant improvement in tracking trajectory, with a decrease of 76.45% in the dimensionless squared jerk (DSJ) and a decrease of 15.38% in the normalized root mean square deviation (NRMSD) when using the adaptive admittance controller. The proposed adaptive patient-cooperative control strategy effectively enhances the compliance of robot movements, thereby ensuring the safety and comfort of patients during rehabilitation training.


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    Titel :

    Adaptive patient-cooperative compliant control of lower limb rehabilitation robot


    Beteiligte:
    Lingling Chen (Autor:in) / Jiabao Huang (Autor:in) / Yanglong Wang (Autor:in) / Shijie Guo (Autor:in) / Mengge Wang (Autor:in) / Xin Guo (Autor:in)


    Erscheinungsdatum :

    2024




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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