Adaptive Trajectory Control Based Robotic Rehabilitation Device
- Publication Type:
- Proceedings of the 2014 Middle East Conference on Biomedical Engineering (MECBME), 2014, pp. 269 - 272
- Issue Date:
Files in This Item:
|Adaptive Trajectory Control Based Robotic Rehabilitation Device.pdf||Published version||736.14 kB|
Copyright Clearance Process
- Recently Added
- In Progress
- Closed Access
This item is closed access and not available.
One of the main objectives of a successful lower limb robotic rehabilitation device is to obtain a smooth human machine interaction in different phase of gait cycle. The new concept in robotics rehabilitation is a “cooperative patient strategy” meaning patient’s voluntary efforts are taken into account rather than imposing any predefined movements or inflexible strategies. The term cooperative is defined to include compliance of robot as it behaves soft and gentle. It only reacts to muscular effort, interactive because there is a bidirectional exchange of energy and information between robot and patient. The control of trajectory is shared by robot and patient to complete gait cycle. In this paper an effort has been made to establish a control law to tune the inertia, damping and stiffness which in turn produce the desired trajectory impedance for smooth human machine interaction. The gain margin and phase margin in bode plot of our system is positive and hence a stable system.
Please use this identifier to cite or link to this item: