A Cooperated-Robot Arm Used for Rehabilitation Treatment with Hybrid Impedance Control Method
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Auteurs : Jingguo Wang [République populaire de Chine] ; Yangmin Li [République populaire de Chine]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2010.
Abstract
Abstract: Robot-assisted therapy instruments can help patients to recover their upper limbs or lower limbs function. Nowadays, most two-DOF(degree of freedom) robotic arms are applied for upper-limb planar motion in the rehabilitation treatment, while the wrist joint is usually neglected. In this paper, a three-DOF planar robotic arm is used as a rehabilitation treatment tool for the survivor after suffering a stroke or spinal cord injury, aiming to assist them to recover upper-limb function. In order to strengthen the patient’s arm, force control in one direction will be desired while the position trajectories in the orthogonal direction should be tracked simultaneously, therefore hybrid impedance control (HIC) is exploited. Redundancy resolution is combined into the control scheme and the constraints of joint limits avoidance(JLA) are considered. The simulations are made to study the HIC strategies and the results are discussed accordingly and the tracking effectiveness of the proposed method is confirmed.
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DOI: 10.1007/978-3-642-16587-0_42
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Yangmin Li<affiliation><mods:affiliation>E-mail: YMLi@umac.mo</mods:affiliation><wicri:noCountry code="no comma">E-mail: YMLi@umac.mo</wicri:noCountry></affiliation>Le document en format XML
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