Training strategies for a lower limb rehabilitation robot based on impedance control.
This paper proposes three training strategies based on impedance control, including passive training, damping-active training and spring-active training, for a 3-DOF lower limb rehabilitation robot designed for patients with paraplegia or hemiplegia. Controllers with similar structure are developed for these training strategies, consisting of dual closed loops, the outer impedance control loop and the inner position/velocity control loop, known as position-based impedance control method. Simulation results verify that position-based impedance control approach is feasible to accomplish the training strategies.
State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China. ustbhujin@163.com
Jin
J
Hu
Zengguang
Z
Hou
Feng
F
Zhang
Yixiong
Y
Chen
Pengfeng
P
Li
D017097:Electric Impedance; D006801:Humans; D007866:Leg / Q000503:physiopathology*; D008962:Models, Theoretical; D010353:Patient Education as Topic / Q000379:methods*; D012046:Rehabilitation / Q000295:instrumentation*; D012371:Robotics