Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment
For lower limb rehabilitation robots, different patients or patients in different rehabilitation stages have different motion abilities, and the parameters of the traditional impedance control model are fixed and cannot achieve the best active suppleness training effect. In this paper, an active tra...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/5/565 |
| _version_ | 1797599359207997440 |
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| author | Jie Hu Yuantao Zhuang Qiaoling Meng Hongliu Yu |
| author_facet | Jie Hu Yuantao Zhuang Qiaoling Meng Hongliu Yu |
| author_sort | Jie Hu |
| collection | DOAJ |
| description | For lower limb rehabilitation robots, different patients or patients in different rehabilitation stages have different motion abilities, and the parameters of the traditional impedance control model are fixed and cannot achieve the best active suppleness training effect. In this paper, an active training control method based on the spring damping model (SDM) and the fuzzy adaptive adjustment of its parameters is proposed. The SDM offsets the target trajectory according to the patient interaction force to obtain a new desired trajectory, creating a controllable impedance environment for the patient. Fuzzy rules are established using coefficients reflecting the patient’s motion ability to adaptively adjust the stiffness and damping coefficients of the SDM. The virtual human–machine force interaction environment is changed to achieve the adaptive adjustment of the resistance training difficulty on the motion ability. The adaptive impedance control method proposed in this paper has achieved the expected goal through experimental verification, which can greatly mobilize the active participation of patients and help improve the rehabilitation effect of patients. |
| first_indexed | 2024-03-11T03:33:11Z |
| format | Article |
| id | doaj.art-3b0753c4690840b1b5efaf668c84b186 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-11T03:33:11Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-3b0753c4690840b1b5efaf668c84b1862023-11-18T02:11:58ZengMDPI AGMachines2075-17022023-05-0111556510.3390/machines11050565Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance AdjustmentJie Hu0Yuantao Zhuang1Qiaoling Meng2Hongliu Yu3Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaInstitute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, ChinaFor lower limb rehabilitation robots, different patients or patients in different rehabilitation stages have different motion abilities, and the parameters of the traditional impedance control model are fixed and cannot achieve the best active suppleness training effect. In this paper, an active training control method based on the spring damping model (SDM) and the fuzzy adaptive adjustment of its parameters is proposed. The SDM offsets the target trajectory according to the patient interaction force to obtain a new desired trajectory, creating a controllable impedance environment for the patient. Fuzzy rules are established using coefficients reflecting the patient’s motion ability to adaptively adjust the stiffness and damping coefficients of the SDM. The virtual human–machine force interaction environment is changed to achieve the adaptive adjustment of the resistance training difficulty on the motion ability. The adaptive impedance control method proposed in this paper has achieved the expected goal through experimental verification, which can greatly mobilize the active participation of patients and help improve the rehabilitation effect of patients.https://www.mdpi.com/2075-1702/11/5/565active trainingfuzzy adaptiverehabilitation robot |
| spellingShingle | Jie Hu Yuantao Zhuang Qiaoling Meng Hongliu Yu Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment Machines active training fuzzy adaptive rehabilitation robot |
| title | Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment |
| title_full | Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment |
| title_fullStr | Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment |
| title_full_unstemmed | Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment |
| title_short | Active Training Control Method for Rehabilitation Robot Based on Fuzzy Adaptive Impedance Adjustment |
| title_sort | active training control method for rehabilitation robot based on fuzzy adaptive impedance adjustment |
| topic | active training fuzzy adaptive rehabilitation robot |
| url | https://www.mdpi.com/2075-1702/11/5/565 |
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