NDLI: Improving the safety of ankle-foot rehabilitation system with hybrid control

Content Provider	IEEE Xplore Digital Library
Author	Geng Chen Zhihao Zhou Yanggang Feng Rongli Wang Ninghua Wang Qining Wang
Copyright Year	2015
Description	Author affiliation: Robot. Res. Group, Peking Univ., Beijing, China (Geng Chen; Zhihao Zhou; Yanggang Feng; Qining Wang) \|\| Dept. of Rehabilitation Med., Peking Univ., Beijing, China (Rongli Wang; Ninghua Wang)
Abstract	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.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	700
Ending Page	705
File Size	945257
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Robots Joints Safety Torque measurement Switches
Content Type	Text
Resource Type	Article

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