吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (3): 837-843.doi: 10.13229/j.cnki.jdxbgxb201503022

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Control methods for standing-up rehabilitation robot based on estimation and analysis of lower limb kinetics

LIU Kun1, ZHAO Jian-chen1, CAO En-guo2, HAN Xuan1   

  1. 1.College of Mechanical Science and Engineering, Jilin University, Changchun 130022, China;
    2.Jiangnan University, School of Design,Wuxi 214122, China
  • Received:2013-12-20 Online:2015-05-01 Published:2015-05-01

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Abstract: A Trajectory Control Method (TCM) and an Impedance Control Method (ICM) are presented. The methods are used to control the robot system so that patients can safely and effectively conduct lower extremity rehabilitation training for standing-up process. During standing-up process, the body segment rotational angles, movement trajectories, Ground Reaction Forces (GRF), Centre of Pressure (CoP) and rope tensile forces are measured by the robot sensor system; the joint moments of ankle, knee and hip are calculated in real-time control program for feed-back-control. Experiment results show that the methods are suitable for standing-up rehabilitation training robot control system, and ensure safe, comfortable and effective rehabilitation training of the lower limbs.

Key words: mechine design, stand up rehabilitation training, trajectory control method(TCM), impedance control method(ICM), lower limb kinetics analysis

CLC Number: 

  • TP212.9
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