• DocumentCode
    142220
  • Title

    Adaptive control of twisted string system for arm rehabilitation robot

  • Author

    Jiang Lei ; Li Yuejuan ; Deng Dongyang

  • Author_Institution
    Sch. of Mech. Electron. & Inf. Eng., China Univ. of Min. & Technol., Beijing, China
  • Volume
    3
  • fYear
    2014
  • fDate
    26-28 April 2014
  • Firstpage
    1855
  • Lastpage
    1859
  • Abstract
    In this research the twisting string system was employed to actuate an arm rehabilitation robot. The mathematic model of the twisted string system was proposed and tested experimentally. An operational linear range that can provide an almost linear movement was identified for the actuation system. A adaptive controller for the twisted string was designed to follow the trajectory of the elbow with a real human motion.
  • Keywords
    adaptive control; control system synthesis; medical robotics; patient rehabilitation; almost linear movement; arm rehabilitation robot; elbow trajectory; operational linear range; twisted string system adaptive controller design; twisted string system mathematic model; Actuators; Adaptation models; DC motors; Force; Pneumatic systems; Robots; Trajectory; adaptive control; back-stepping; twisted string;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Information Science, Electronics and Electrical Engineering (ISEEE), 2014 International Conference on
  • Conference_Location
    Sapporo
  • Print_ISBN
    978-1-4799-3196-5
  • Type

    conf

  • DOI
    10.1109/InfoSEEE.2014.6946243
  • Filename
    6946243
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=142220