NDLI: Motion control design of the lower-limb mobile training robot

Content Provider	IEEE Xplore Digital Library
Author	Syh-Shiuh Yeh Hung-Hsiu Yu
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Eng., Nat. Taipei Univ. of Technol., Taipei (Syh-Shiuh Yeh)
Abstract	This paper aims at the development of the motion control design for a lower-limb mobile training robot that can provide adequate motion functions such as the passive and resistive motions of multiple joints for increasing training performances and for shortening training programs. In this paper, the motion control design includes the design of motion command generator and the design of motion control laws. A parametric curve interpolation algorithm is developed in the design of motion command generator to generate motion commands for the mobile training robot, and the kinematics and force-driven control of two-wheeled mobile robots are used to design the motion control laws. Moreover, by using the developed motion control design, three operation modes: continuous passive motion (CPM) mode, continuous active motion (CAM) mode, and hybrid motion (HM) mode, are designed for the applications of different training programs. Several tests are applied to evaluate the execution performances of the mobile training robot with the developed motion control design, and the experimental results indicate that the training robot is feasible for the applications of lower-limb training and rehabilitation.
Starting Page	904
Ending Page	909
File Size	599367
Page Count	6
File Format	PDF
ISBN	9781424421701
ISSN	19354576
DOI	10.1109/INDIN.2008.4618230
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-13
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article

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