DocumentCode :
2295565
Title :
Research on Obstacle-Avoidance Control Algorithm of Rehabilitation Robot Combined with Neural Network
Author :
Wang Tong ; Cao Cheng ; Guo Hongche
Author_Institution :
Shenyang Univ. of Technol., Shenyang, China
Volume :
3
fYear :
2010
fDate :
13-14 March 2010
Firstpage :
128
Lastpage :
131
Abstract :
This paper proposes an obstacle-avoidance algorithm which can be applied to omnidirectional Lower Limbs Rehabilitation Robot. The method generates the attribute of obstacle scene using detected angle information of obstacle boundary, and fuzzy matching with the obstacle scene knowledgebase to realize the obstacle-avoidance control of robot. The implementation of fuzzy matching depends on fuzzy neural network. The neural network enhances self learning ability, greatly simplifies data calculation. Obstacle-avoidance algorithm makes the rehabilitation robot more safety for human using and reduces environmental using demand. This paper proves the feasibility and effectiveness of the obstacle-avoidance algorithm through theoretical derivation and simulation results.
Keywords :
collision avoidance; fuzzy neural nets; fuzzy set theory; medical robotics; neurocontrollers; patient rehabilitation; service robots; data calculation; fuzzy matching; neural network; obstacle-avoidance control algorithm; omnidirectional lower limbs rehabilitation robot; rehabilitation robot; Fuzzy control; Fuzzy neural networks; Layout; Medical robotics; Mobile robots; Neural networks; Paper technology; Rehabilitation robotics; Robotics and automation; Wheels; fuzzy matching; neural network; obstacle-avoidance control; omnidirectional Lower Limbs Rehabilitation Robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
Type :
conf
DOI :
10.1109/ICMTMA.2010.204
Filename :
5459590
Link To Document :
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