Human voluntary activity integration into the control of standing-up rehabilitation robot

In this paper a control algorithm for the robot assisted standing-up training of paraplegic subjects is proposed The main goal of the proposal is to integrate the voluntary activity of the rising person into the control of the standing-up rehabilitation robot. The algorithm is developed for the hydraulically driven robot device operating in a force control mode. It generates the reference value of the interaction force between the robot and subject aimed to be tracked by the robot controller The basic idea behind calculation of the reference force is to quantify the deficit in the static equilibrium of the trunk. The proposed algorithm was implemented as a Kalman filter procedure and evaluated in the Matlab-Simulink simulation environment. The simulation results proved the adequate and robust performance of our approach.