Rehabilitation robots are an effective supplement to classical locomotion therapy, guaranteeing a high training intensity with a sufficient amount of iterations. Rehabilitation robots are developed with respect to the needs of the patients, ensuring safety and optimal training conditions. In this contribution, a control structure for a gait trainer is presented allowing unsupervised training. The controller comprises a flatness-based trajectory tracking control and a disturbance compensation. It is shown that the controller maintains an absolutely robust and, therefore, safe behavior for all kinds of disturbances, even for spasticities of the patient. Furthermore, the controller shows an elastic tracking behavior leaving space for the idiosyncrasies of the patient's gait, while granting the qualitative characteristics of the gait trajectories at all times.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Flatness-based trajectory tracking control of a rehabilitation robot with disturbance compensation


    Beteiligte:


    Erscheinungsdatum :

    2014-10-01


    Format / Umfang :

    457530 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    From flatness-based trajectory tracking to path following

    Werling, Moritz / Groll, Lutz | IEEE | 2009


    Flatness-based Model Predictive Control for Autonomous Vehicle Trajectory Tracking

    Wang, Zejiang / Zha, Jingqiang / Wang, Junmin | IEEE | 2019


    From Flatness-based Trajectory Tracking to Path Following

    Werling, M. / Groll, L. | British Library Conference Proceedings | 2009


    PID trajectory tracking control of RP robot based on model compensation

    Shuqian, Zhang / Yangfang, Ye / Jing, Ma et al. | IEEE | 2022