Single-joint repetitive control of upper-limb rehabilitation robot

Author

Wang, Jianhui ; Li, Xing ; Fang, Xiaoke ; Dong, Liang

Author_Institution

Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China

fYear

2010

fDate

26-28 May 2010

Firstpage

1330

Lastpage

1333

Abstract

Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics. The simulation results show that the effect of system tracking is very well and it has higher stability. It expected results have been achieved.

Keywords

medical robotics; motion control; patient rehabilitation; position control; stability; fixed-cycle signal; joint position error; motion characteristics; rehabilitation training; repetitive controller design; repetitive motion; single-joint repetitive control; stability; system tracking; upper-limb rehabilitation robot; Elbow; Force control; Humans; Information science; Intelligent control; Motion control; Rehabilitation robotics; Robot control; Shoulder; Wrist; joint position error; repetitive control; upper-limb rehabilitation robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2010 Chinese

Conference_Location

Xuzhou

Print_ISBN

978-1-4244-5181-4

Electronic_ISBN

978-1-4244-5182-1

Type

conf

DOI

10.1109/CCDC.2010.5498183

Filename

5498183