Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force.
Force Control Based on Model Predictive for Lower Limb Rehabilitation Training
Applied Mechanics and Materials ; 738-739 ; 991-994
2015-03-09
4 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Lower limb rehabilitation robot
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