Improvement model for omnidirectional rehabilitative training walker and tracking control

Author

Ping Sun ; Shuoyu Wang

Author_Institution

Sch. of Inf. Sci. & Eng., Shenyang Univ. of Technol., Shenyang, China

fYear

2014

fDate

3-6 Aug. 2014

Firstpage

1359

Lastpage

1364

Abstract

This paper is concerned with the problem of improvement model for the omnidirectional rehabilitative training walker and tracking control. The aim of the study is to obtain a model that closes to actual walker by considering motor rotation character. An asymptotically stable controller was gotten that can ensure tracking on a training path planned by a physical therapist. The controller that can satisfy asymptotic stability is obtained by constructing the Lyapunov function. The simulation results confirm the feasibility and effectiveness of the designed scheme and indicate the walker can ensure tracking motion by using the improved model.

Keywords

Lyapunov methods; asymptotic stability; control system synthesis; medical robotics; motion control; patient rehabilitation; Lyapunov function; asymptotic stability; asymptotically stable controller; designed scheme; motor rotation character; omnidirectional rehabilitative training walker; physical therapist; tracking control; tracking motion; training path; Equations; Kinetic theory; Legged locomotion; Mathematical model; Tracking; Training; Trajectory; asymptotical stability; improvement model; omnidirectional rehabilitative training walker; tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2014 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4799-3978-7

Type

conf

DOI

10.1109/ICMA.2014.6885897

Filename

6885897