Control of a soft ankle rehabilitation robot

Control of a soft ankle rehabilitation robot

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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.

Chapter Contents:

  • 7.1 Introduction
  • 7.2 Passive training control
  • 7.2.1 Force distribution based cascade control
  • 7.2.2 IFT control for repetitive training
  • 7.3 Active training control
  • 7.3.1 Trajectory adaptation-based intelligent control
  • 7.3.2 Game guided training control
  • 7.4 Summary
  • References

Inspec keywords: virtual reality; computer games; patient rehabilitation; medical robotics; position control

Other keywords: force loop; adaptive interaction training; soft ankle rehabilitation robot control; safe robotic passive training; position loop; cascade position controller; interaction control; active training control; virtual reality based video game

Subjects: Patient care and treatment; Virtual reality; Biological and medical control systems; Patient care and treatment; Computer games; Spatial variables control; Robotics

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