A Patient-driven Control Methodd for Lower-limb Rehabilitation Robot
文献类型：会议论文
| 作者 | Wang,xiaonan ; Lu,Tao; Wang,Shijun; Gu,Jiaojiao; Yuan,Kui
|
| 出版日期 | 2016-08 |
| 会议日期 | 2016-8 |
| 会议地点 | Harbin,China |
| 关键词 | Rehabilitation Robot Human-robot Interaction Adaptive Control |
| 英文摘要 | Lower-limb rehabilitation robots can support the training of patients with neurological gait disorders. Compared to the robot-driven control strategy which permits patients to remain passive during the training, Patient-driven control strategy can motivate the patient's participation and accelerate the rehabilitation process. In this paper, based on a selfdeveloped lower-limb rehabilitation robot, a patient-driven control method is developed and implemented to realize a patient-in-charge gait training strategy. During the training, the proposed control algorithm adapts the motion pattern of the robot according to the estimated patient’s voluntary efforts and increases the patient’s movement freedom by a certain amount of robot compliance. By adjusting the parameters, the degree of robot compliance can be set based on the patient’s voluntary abilities. Experiment results are presented to evaluate the basic principal and technical function of the proposed method and show positive for improving the subject’s voluntary contribution during the training. |
| 会议录 | IEEE International Conference on Mechatronics and Automation
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12487]  |
| 专题 | 自动化研究所_智能制造技术与系统研究中心_智能机器人团队 |
| 通讯作者 | Lu,Tao |
| 作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Wang,xiaonan,Lu,Tao,Wang,Shijun,et al. A Patient-driven Control Methodd for Lower-limb Rehabilitation Robot[C]. 见:. Harbin,China. 2016-8. |
入库方式： OAI收割
来源：自动化研究所
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