Control of a soft ankle rehabilitation robot
Interaction control is crucial to the soft ankle rehabilitation robot (SARR). This is usually implemented on the basis of a position controller by which accurate trajectory tracking can be obtained to guarantee safe passive training and active training control to promote the patient's participation. The first half of this chapter is dedicated to the development of a cascade position controller with position loop and force loop, which aims to implement smooth and safe robotic passive training on the SARR. The second half of this chapter proposes the active training strategies of generating an adaptive predefined trajectory according to the movement intention of the patient. The proposed adaptive interaction training can be then implemented by integrating it into a virtual reality based video game to make the robotic training process more attractive to the patients.
Control of a soft ankle rehabilitation robot, Page 1 of 2
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