Force Control Based on Model Predictive for Lower Limb Rehabilitation Training
| Autor: | Hong Wu Qin, Fu Cheng Cao |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Engineering
medicine.medical_specialty Force level business.industry Control (management) technology industry and agriculture General Medicine Rehabilitation robot Lower limb law.invention body regions Industrial robot Physical medicine and rehabilitation Gait training law Rehabilitation training medicine Robot business Simulation |
| Zdroj: | Applied Mechanics and Materials. :991-994 |
| ISSN: | 1662-7482 |
| DOI: | 10.4028/www.scientific.net/amm.738-739.991 |
| Popis: | Human as a varying dynamic system, the control strategies of human-robot interacts differ significantly from that of conventional industrial robot. Considered the patient-centered exercise regimens, a force control method based predict is presented to control a lower limb rehabilitation robot. The control law is introduced that optimises the the maintained force level and limits excessive forceto injury the subject's lower extremity joints. Simulation results show that the robot could guide thelower limb of subjects to move under predefined model of the external force. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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