Title :
Modeling and control of ankle rehabilitation robot with nonlinear factors
Author :
Lan Wang ; Haitao Zhu ; Zhiming Chen
Author_Institution :
Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China
Abstract :
A new 3-DOF ankle rehabilitation robot was studied in this paper which can meet the requirements of ankle rehabilitation motions for inversion/eversion, dorsiflexion/ plantar flexion, adduction/ abduction. Dynamic equations of the ankle rehabilitation robot and mathematic model of the friction, partial load and idle were established. By simulation and open-loop experiment, the mathematic model of the nonlinear factors were verified. Feedforward-feedback compound control strategy was designed for inversion/eversion mechanism, and the experiment was conducted with the dSPACE/ matlab/simulink semi-physical simulation platform. The experiment results show that the robot running more smoothly, the following features has been improved, and the parameters of system meet the requirements of the rehabilitation.
Keywords :
feedback; feedforward; friction; medical robotics; patient rehabilitation; robot dynamics; 3-DOF ankle rehabilitation robot control; 3-DOF ankle rehabilitation robot modeling; Matlab; Simulink semiphysical simulation platform; dSPACE; dynamic equations; eversion mechanism; feedforward-feedback compound control strategy; friction; idle; inversion mechanism; mathematic model; nonlinear factors; open-loop experiment; partial load; Equations; Friction; Load modeling; Mathematical model; Robots; Torque; ankle rehabilitation robot; dSPACE; dynamic equations; feedforward-feedback; nonlinear factors;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932636
