Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes the model reference adaptive impedance control in lower limbs rehabilitation robot. Firstly, we introduce the system model of the lower limbs rehabilitation robot; and then we analyze the application of the impedance control in human-robot interaction; finally, we propose the adaptive impedance control based on the model reference adaptive control theory, and the control law based on Lyapunov stability is deduced. The adaptive controller can adjust the impedance control real-time, so that it can improve the robustness of the system. The effectiveness of the control algorithm is verified by experiments.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Model reference adaptive impedance control in lower limbs rehabilitation robot


    Contributors:
    Lv, Xianyao (author) / Han, Junwei (author) / Yang, Chifu (author) / Cong, Dacheng (author)


    Publication date :

    2017-07-01


    Size :

    616328 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Implementation of omnidirectional lower limbs rehabilitation training robot

    Junyou Yang, / Xiaoxuan Chen, / Hongche Guo, et al. | IEEE | 2007


    A mobile lower limbs rehabilitation robot for standing assistance and motion control

    Dong, Tianyun / Liu, Tao / Chen, Zhongxian et al. | IEEE | 2017


    Study on the Lower Limbs Rehabilitation Robotic Control System by sEMG

    Zhang, Xiao Jun ;Liu, Geng Qian ;Zhang, Jian Hua | Trans Tech Publications | 2012


    Robot Impedance Force Control Using a Model Reference Adaptive Control

    Kamnik, R. / Matko, D. / Bajd, T. | British Library Online Contents | 1997


    Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

    Lingling Chen / Jiabao Huang / Yanglong Wang et al. | DOAJ | 2024

    Free access