TY - GEN
T1 - Model reference adaptive impedance control in lower limbs rehabilitation robot
AU - Lv, Xianyao
AU - Han, Junwei
AU - Yang, Chifu
AU - Cong, Dacheng
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/20
Y1 - 2017/10/20
N2 - Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes the model reference adaptive impedance control in lower limbs rehabilitation robot. Firstly, we introduce the system model of the lower limbs rehabilitation robot; and then we analyze the application of the impedance control in human-robot interaction; finally, we propose the adaptive impedance control based on the model reference adaptive control theory, and the control law based on Lyapunov stability is deduced. The adaptive controller can adjust the impedance control real-time, so that it can improve the robustness of the system. The effectiveness of the control algorithm is verified by experiments.
AB - Active exercise can improve the rehabilitation efficacy of the paralyzed patients, while we need to consider its safety. Impedance control takes the active compliance into account, providing a safe and comfortable training environment for the patients. However, the traditional impedance control has poor robustness, so it is urgent to enhance the adaptive capability of the system. This paper proposes the model reference adaptive impedance control in lower limbs rehabilitation robot. Firstly, we introduce the system model of the lower limbs rehabilitation robot; and then we analyze the application of the impedance control in human-robot interaction; finally, we propose the adaptive impedance control based on the model reference adaptive control theory, and the control law based on Lyapunov stability is deduced. The adaptive controller can adjust the impedance control real-time, so that it can improve the robustness of the system. The effectiveness of the control algorithm is verified by experiments.
KW - impedance control
KW - interactive control
KW - lower limbs rehabilitation robot
KW - model reference adaptive control
UR - https://www.scopus.com/pages/publications/85039963329
U2 - 10.1109/ICInfA.2017.8078915
DO - 10.1109/ICInfA.2017.8078915
M3 - 会议稿件
AN - SCOPUS:85039963329
T3 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
SP - 254
EP - 259
BT - 2017 IEEE International Conference on Information and Automation, ICIA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Information and Automation, ICIA 2017
Y2 - 18 July 2017 through 20 July 2017
ER -