title: Study on possible control algorithms for lower limb rehabilitation system.
abstract: In this paper, one of the possibilities of introduction of variable stiffness in a rehabilitation manipulator for lower limbs, is described. Mechanical design and working principle of a proposed system are presented. The following control algorithms for manipulators with flexible joints are suggested: the position control and the active impedance control. The tracking performance is experimentally studied for sinusoidal and polynomial reference trajectories. Obtained results confirm that both control strategies are suitable for controlling a rehabilitation manipulator with changeable stiffness.
authors.affiliation: Chair of Control and Systems Engineering, Poznán University of Technology, ul. Piotrowo 3a, 61-965, Poznán, Poland. marta.kordasz@doctorate.put.poznan.pl
authors.forename: Marta
authors.initials: M
authors.lastname: Kordasz
authors.forename: Krzysztof
authors.initials: K
authors.lastname: Kuczkowski
authors.forename: Piotr
authors.initials: P
authors.lastname: Sauer
mesh_terms: D000465:Algorithms; D004867:Equipment Design; D006801:Humans; D035002:Lower Extremity / Q000502:physiology*; D008962:Models, Theoretical; D012371:Robotics / Q000295:instrumentation* / Q000379:methods