Title :
Control strategies for lower limb rehabilitation robot
Author :
Jiangcheng Chen ; Xiaodong Zhang ; He Wang ; Qiangyong Shi ; Rui Li
Author_Institution :
Key Lab. for Modern Design & Rotor-Bearing Syst., Xi´an Jiaotong Univ., Xi´an, China
Abstract :
Robotic devices for functional therapy for paralysis caused by neurologic injury is becoming popular now days. Effective control strategy is a key technical problem in developing a rehabilitation robot. In this paper, different control strategies for different training stages are proposed. Firstly, the rehabilitation process is divided into two stages which corresponding to two kinds of training modes: robot-in-charge and patient-in-charge (passive and active). Then, the position control method is proposed for passive mode as well as the bioelectrical signal (EMG) based control strategy for active training mode. Meanwhile, simulation of the control is conducted and the results proved the correctness of our control method.
Keywords :
control engineering computing; electromyography; medical robotics; medical signal processing; neurophysiology; patient rehabilitation; position control; EMG based control strategy; active training mode; bioelectrical signal based control; effective control strategy; functional therapy; lower limb rehabilitation robot; neurologic injury; paralysis; passive mode; patient-in-charge; position control method; rehabilitation process; robot-in-charge; robotic devices; Electromyography; Joints; Legged locomotion; Muscles; Torque; Training; Rehabilitation robot; control strategy; lower limb; neurologic injury;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932638
