Model based control of a rehabilitation robot for lower extremities.
Annu Int Conf IEEE Eng Med Biol Soc
; 2010: 2263-6, 2010.
Article
en En
| MEDLINE
| ID: mdl-21097222
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.
Texto completo:
1
Colección:
01-internacional
Banco de datos:
MEDLINE
Asunto principal:
Robótica
/
Extremidad Inferior
/
Traumatismos de la Pierna
Tipo de estudio:
Prognostic_studies
/
Risk_factors_studies
Límite:
Humans
Idioma:
En
Revista:
Annu Int Conf IEEE Eng Med Biol Soc
Año:
2010
Tipo del documento:
Article
País de afiliación:
China