| Title | Improving the Safety of Ankle-Foot Rehabilitation System with Hybrid Control |
| Authors | Chen, Geng Zhou, Zhihao Feng, Yanggang Wang, Rongli Wang, Ninghua Wang, Qining |
| Affiliation | Peking Univ, Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China. Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing 100871, Peoples R China. Peking Univ, Hosp 1, Dept Rehabil Med, Beijing 100034, Peoples R China. |
| Keywords | SLIDING MODE CONTROL ELASTIC PROPERTIES |
| Issue Date | 2015 |
| Publisher | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
| Citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).2015,700-705. |
| Abstract | The safety is an important issue in robot-assisted rehabilitation systems. In this paper, we present a therapist-joined hybrid control method to improve the safety of a robotic ankle-foot system for post stroke rehabilitation, combining therapist-joined zero torque control and proxy-based sliding mode control in the continuous passive motion based rehabilitation. The zero torque control is applied when measuring the range of motion of the subject to obtain its extreme joint angle and largest resistance torque. According to these data, a subject-suited position controller of proxy-based sliding mode control can be specified to implement passive stretching, with desired trajectory designed and torque output limited for the subject individually. Experiments were performed to demonstrate the feasibility of the proposed method on improving safety. |
| URI | http://hdl.handle.net/20.500.11897/450132 |
| ISSN | 2159-6255 |
| Indexed | CPCI-S(ISTP) |
| Appears in Collections: | 工学院 第一医院 |
