title: Model based control of a rehabilitation robot for lower extremities.
abstract: This paper mainly focuses on the trajectory tracking control of a lower extremity rehabilitation robot during passive training process of patients. Firstly, a mathematical model of the rehabilitation robot is introduced by using Lagrangian analysis. Then, a model based computed-torque control scheme is designed to control the constrained four-link robot (with patient's foot fixed on robot's end-effector) to track a predefined trajectory. Simulation results are provided to illustrate the effectiveness of the proposed model based computed-torque algorithm. In the simulation, a multi-body dynamics and motion software named ADAMS is used. The combined simulation of ADAMS and MATLAB is able to produce more realistic results of this complex integrated system.
authors.affiliation: Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, Beijing 100190, China. xiaoliang.xie@ia.ac.cn
authors.forename: Xiao-Liang
authors.initials: XL
authors.lastname: Xie
authors.forename: Zeng-Guang
authors.initials: ZG
authors.lastname: Hou
authors.forename: Peng-Feng
authors.initials: PF
authors.lastname: Li
authors.forename: Cheng
authors.initials: C
authors.lastname: Ji
authors.forename: Feng
authors.initials: F
authors.lastname: Zhang
authors.forename: Min
authors.initials: M
authors.lastname: Tan
authors.forename: Hongbo
authors.initials: H
authors.lastname: Wang
authors.forename: Guoqing
authors.initials: G
authors.lastname: Hu
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D003198:Computer Simulation; D004867:Equipment Design; D006801:Humans; D007869:Leg Injuries / Q000534:rehabilitation*; D035002:Lower Extremity / Q000503:physiopathology*; D015233:Models, Statistical; D008962:Models, Theoretical; D011381:Programming Languages; D012371:Robotics; D012984:Software; D013997:Time Factors