Title :
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
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;
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
DOI :
10.1109/CCDC.2010.5498183
