Abstract
This paper proposes a lower-limb rehabilitation robot. It assists patients suffering from hemiplegic to recover the hurt leg by walking in a gait trajectory. A single-side mechanical structure is designed, which is driven by the pneumatic muscles. For further research, we build a simplified 2-DOF dynamic model with the Lagrange method. PD control and adaptive control strategies are developed with stability analysis demonstrating that both methods are stable and effective. At last, we achieve the tracking performances of the robot model in both control strategies by simulation results.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Riener, R., Lunenburger, L., Jezernik, S., Anderschitz, M., Colombo, G., Dietz, V.: Patient-cooperative strategies for robot-aided treadmill training: first experimental results. IEEE Trans. Rehabil. Eng. 13, 380–394 (2005)
AutoAmbulator, http://www.deaconess.com/bodyhsdh.cfm?id=2295
Kawamoto, H., Sankai, Y.: Power Assist System HAL-3 for Gait Disorder Person. In: Miesenberger, K., Klaus, J., Zagler, W.L. (eds.) ICCHP 2002. LNCS, vol. 2398, pp. 196–203. Springer, Heidelberg (2002)
Veneman, J.F., Kruidhof, R., Hekman, E.E.G., Ekkelenkamp, R., Van Asseldonk, E.H.F., Van der Kooij, H.: Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans. Neural Syst. Rehabil. Eng. 15(3), 379–386 (2007)
Zoss, A.B., Kazerooni, H., Chu, A.: Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Transactions on Mechatronics 11, 128–138 (2006)
Malcolm, P., Segers, V., Caekenberghe, I.V., Clercq, D.D.: Experimental study of the influence of the m.tibialis anterior on the walk-to-run transition by means of a powered ankle-foot exoskeleton. Gait Posture 29, 6–10 (2009)
Homma, K., Fukuda, O., Nagata, Y.: Study of a wire-driven leg rehabilitation system. In: Proceeding of Sixth International Conference on Intelligent Robots and Systems, pp. 1451–1456 (2002)
Bradley, D., Marquez, C., Hawley, M., Brownsell, S., Enderby, P., Mawson, S.: NeXOS the design, development, and evaluation of a rehabilitation system for the lower limbs. Mechatronics 19, 247–257 (2009)
Moughamir, S., Zaytoon, J., Manamanni, N., Afilal, L.: A system approach for control development of lower limbs training machines. Control Eng. Pract. 10, 287–299 (2002)
Ge, S.S., Lee, T.H., Harris, C.J.: Adaptive Neural Network Control of Robotic Manipulators. World Scientific, London (1998)
LaSalle, J.P.: Stability Theory for Difference Equations. Journal of Differential Equations 4(2), 57–65 (1968)
Craig, J.: Adaptive Control of Mechanical Manipulators. Addison Wesley, Reading (1985)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ma, Y., He, W., Ge, S.S. (2012). Modeling and Control of a Lower-Limb Rehabilitation Robot. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_59
Download citation
DOI: https://doi.org/10.1007/978-3-642-34103-8_59
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-34102-1
Online ISBN: 978-3-642-34103-8
eBook Packages: Computer ScienceComputer Science (R0)