Radical basis function (RBF) neural network is proposed for the upper limb rehabilitation robot driven by series elastic actuator (SEA). The human-in-charge (HIC) mode and the robot-in-charge (RIC) mode are performed via the devised interaction control algorithm, where in the different control modes can be switched smoothly to avoid human-robot confrontation and improve the rehabilitation effect. On the basis of the RBF neural network with nonlinear mapping property, the human-robot interaction control modes can be dynamically adjusted via utilizing human-robot interaction force, which realizes the human-robot collaboration and adaptive control. The simulation results prove that the advised control method has a excellent performance different control modes.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Human-Robot Interaction Control Based on the RBF Neural Network for Upper Limb Rehabilitation Robot


    Beteiligte:
    Tian, Zhenda (Autor:in) / Liu, Keping (Autor:in) / Liu, Yongbai (Autor:in) / Wang, Gang (Autor:in) / Shen, Yao (Autor:in) / Sun, Zhongbo (Autor:in)


    Erscheinungsdatum :

    2023-11-10


    Format / Umfang :

    12894786 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Impedance Control of Upper Limb Rehabilitation Robot Based on Neural Network

    Wang, Zhiming / Chang, Yanyan / Sui, Xueting | IEEE | 2017


    Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework

    Sosa Méndez, Deira / García Cena, Cecilia E. / Saltarén Pazmiño, Roque | Springer Verlag | 2024


    Control System Design of Upper Limb Rehabilitation Robot

    Yu, Gang ;Qian, Jin Wu ;Shen, Lin Yong | Trans Tech Publications | 2013


    Control of an exoskeleton robot for upper limb rehabilitation

    Liu, Lin / Shi, Yunyong / Xie, Le | IEEE | 2016


    Musculoskeletal Analysis of Upper Limb Rehabilitation Robot Prototype

    Mohamaddan, Shahrol ;Jamali, Annisa ;Abd Majid, Noor Aliah | Trans Tech Publications | 2016