吉林大学学报(工学版) ›› 2016, Vol. 46 ›› Issue (5): 1602-1608.doi: 10.13229/j.cnki.jdxbgxb201605032

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Adaptive trajectory sliding mode impedance control for lower limb rehabilitation robot

CAO Fu-cheng1,2, XING Xiao-xue2, LI Yuan-chun3, ZHAO Xi-lu4   

  1. 1.College of Communication Engineering, Jilin University, Changchun 130022, China;
    2.College of Electronic Information and Engineering, Changchun University, Changchun 130022, China;
    3.College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China;
    4.Saitama Institute of Technology, Saitama 369-0293, Japan
  • Received:2015-07-09 Online:2016-09-20 Published:2016-09-20

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Abstract: Considering the training task planning and active rehabilitation control design for lower limb rehabilitation, a gait trajectory planning strategy was proposed according to the damaged limb and the control algorithm to complete the active rehabilitation training. The gait trajectory planning method can adjust adaptively the deviation between the training trajectory and normal gait trajectory on the demand of different limbs. Impedance control can enhance the active forces of the damaged limb in training. Adaptive sliding mode control can eliminate the influence of model structure uncertainty and parameter uncertainty, which are caused by external forces due to muscle spasm in training, and is robust to nonlinearity of the system. Simulation results show that the proposed method is effective to the adaptive gait trajectory planning and active compliant control for different damaged limbs in gait rehabilitation training, and the tracking accuracy is higher.

Key words: automatic control technology, rehabilitation robot, gait trajectory planning, impedance control, sliding mode control, adaptive control

CLC Number: 

  • TP242.6
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