Force control of wire driving lower limb rehabilitation robot.
Technol Health Care
; 26(S1): 399-408, 2018.
Article
en En
| MEDLINE
| ID: mdl-29758963
ABSTRACT
BACKGROUND:
To solve the technical problems associated with the research on lower limb rehabilitation robot in terms of configuration design, human-machine compatibility, lightweight, and multimodel rehabilitation.OBJECTIVE:
This study introduced a parallel wire driving lower limb rehabilitation robot. The robot featured modular design, reconfiguration, multimodel, and good human-machine compatibility.METHODS:
The dynamics model of the wire driving module (WDM) was built based on which a multiple feedback loop controller (including a forward controller and a surplus force compensator) was designed.RESULTS:
The experimental results showed that the WDM could load force accurately and reliably during the loading procedure.CONCLUSIONS:
The machinery and control system of the WDM met the design request.Palabras clave
Texto completo:
1
Colección:
01-internacional
Base de datos:
MEDLINE
Asunto principal:
Rehabilitación
/
Extremidad Inferior
/
Dispositivo Exoesqueleto
Límite:
Humans
Idioma:
En
Revista:
Technol Health Care
Asunto de la revista:
ENGENHARIA BIOMEDICA
/
SERVICOS DE SAUDE
Año:
2018
Tipo del documento:
Article
País de afiliación:
China