TY - GEN
T1 - Improving the safety of ankle-foot rehabilitation system with hybrid control
AU - Chen, Geng
AU - Zhou, Zhihao
AU - Feng, Yanggang
AU - Wang, Rongli
AU - Wang, Ninghua
AU - Wang, Qining
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/8/25
Y1 - 2015/8/25
N2 - The safety is an important issue in robot-assisted rehabilitation systems. In this paper, we present a therapist-joined hybrid control method to improve the safety of a robotic ankle-foot system for post stroke rehabilitation, combining therapist-joined zero torque control and proxy-based sliding mode control in the continuous passive motion based rehabilitation. The zero torque control is applied when measuring the range of motion of the subject to obtain its extreme joint angle and largest resistance torque. According to these data, a subject-suited position controller of proxy-based sliding mode control can be specified to implement passive stretching, with desired trajectory designed and torque output limited for the subject individually. Experiments were performed to demonstrate the feasibility of the proposed method on improving safety.
AB - The safety is an important issue in robot-assisted rehabilitation systems. In this paper, we present a therapist-joined hybrid control method to improve the safety of a robotic ankle-foot system for post stroke rehabilitation, combining therapist-joined zero torque control and proxy-based sliding mode control in the continuous passive motion based rehabilitation. The zero torque control is applied when measuring the range of motion of the subject to obtain its extreme joint angle and largest resistance torque. According to these data, a subject-suited position controller of proxy-based sliding mode control can be specified to implement passive stretching, with desired trajectory designed and torque output limited for the subject individually. Experiments were performed to demonstrate the feasibility of the proposed method on improving safety.
UR - https://www.scopus.com/pages/publications/84950983795
U2 - 10.1109/AIM.2015.7222619
DO - 10.1109/AIM.2015.7222619
M3 - 会议稿件
AN - SCOPUS:84950983795
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 700
EP - 705
BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Y2 - 7 July 2015 through 11 July 2015
ER -