Force control of wire driving lower limb rehabilitation robot

Technology and Health Care : Official Journal of the European Society for Engineering and Medicine
Yupeng ZouKai Liu

Abstract

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. This study introduced a parallel wire driving lower limb rehabilitation robot. The robot featured modular design, reconfiguration, multimodel, and good human-machine compatibility. 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. The experimental results showed that the WDM could load force accurately and reliably during the loading procedure. The machinery and control system of the WDM met the design request.

References

Jun 30, 2010·Journal of Neuroengineering and Rehabilitation·Stefan HesseChristopher Tomelleri
Oct 23, 2012·American Journal of Physical Medicine & Rehabilitation·Alberto EsquenaziMichael Saulino
Jun 12, 2014·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Ying MaoSunil K Agrawal
Feb 13, 2016·JAMA : the Journal of the American Medical Association·Carolee J WinsteinUNKNOWN Interdisciplinary Comprehensive Arm Rehabilitation Evaluation (ICARE) Investigative Team

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