Control system design of a 3-DOF upper limbs rehabilitation robot

被引：54

作者：

Deneve, Alexandre ^{[1
]}

Moughamir, Saied ^{[1
]}

Afilal, Lissan ^{[1
]}

Zaytoon, Janan ^{[1
]}

机构：

[1] Univ Reims, Ctr Rech Sci & Technol Informat & Commun, F-51687 Reims 2, France

来源：

COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE | 2008年 / 89卷 / 02期

关键词：

biomedical systems; robot control; identification; man/machine interaction;

D O I：

10.1016/j.cmpb.2007.07.006

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents the control system design of a rehabilitation and training robot for the upper limbs. Based on a hierarchical structure, this control system allows the execution of sequence of switching control laws (position, force, impedance and force/impedance) corresponding to the required training configuration. A model-based nonlinear controller is used to impose the desired environment to the patient's arm. The knowledge of robot kinematics and dynamics is thus necessary to ensure haptic transparency and patient safety. The identification process of robot dynamics is emphasised and experimental identification results are given for the designed robot. The paper also presents a particular rehabilitation mode named Active-Assisted. Simulation results of this rehabilitation mode illustrate the potentialities of the overall control scheme, which can also be applied to other rehabilitation robots. (c) 2007 Elsevier Ireland Ltd. All rights reserved.

引用

页码：202 / 214

页数：13

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