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.


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    Title :

    Force Control Based on Model Predictive for Lower Limb Rehabilitation Training



    Published in:

    Publication date :

    2015-03-09


    Size :

    4 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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