Control strategies for lower limb rehabilitation robot

Author

Jiangcheng Chen ; Xiaodong Zhang ; He Wang ; Qiangyong Shi ; Rui Li

Author_Institution

Key Lab. for Modern Design & Rotor-Bearing Syst., Xi´an Jiaotong Univ., Xi´an, China

fYear

2014

fDate

28-30 July 2014

Firstpage

121

Lastpage

125

Abstract

Robotic devices for functional therapy for paralysis caused by neurologic injury is becoming popular now days. Effective control strategy is a key technical problem in developing a rehabilitation robot. In this paper, different control strategies for different training stages are proposed. Firstly, the rehabilitation process is divided into two stages which corresponding to two kinds of training modes: robot-in-charge and patient-in-charge (passive and active). Then, the position control method is proposed for passive mode as well as the bioelectrical signal (EMG) based control strategy for active training mode. Meanwhile, simulation of the control is conducted and the results proved the correctness of our control method.

Keywords

control engineering computing; electromyography; medical robotics; medical signal processing; neurophysiology; patient rehabilitation; position control; EMG based control strategy; active training mode; bioelectrical signal based control; effective control strategy; functional therapy; lower limb rehabilitation robot; neurologic injury; paralysis; passive mode; patient-in-charge; position control method; rehabilitation process; robot-in-charge; robotic devices; Electromyography; Joints; Legged locomotion; Muscles; Torque; Training; Rehabilitation robot; control strategy; lower limb; neurologic injury;

fLanguage

English

Publisher

ieee

Conference_Titel

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

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932638

Filename

6932638