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

fYear

2014

fDate

28-30 July 2014

Firstpage

113

Lastpage

117

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932636

Filename

6932636