Experimental Research on Trajectory Control of Walking Rehabilitation Training Robot

Abstract:

In order to improve the effect of smooth motion, the impedance control is introduced into the control system of walking rehabilitation training robot. An impedance control strategy for active rehabilitation training model is proposed and analyzed, and an adaptive control algorithm is proposed on that basis. The experimental tests of three control methods including PD position servo control, impedance control and adaption control are implemented on the robot prototype. The experimental results show that the robot can continuously adjust its gait trajectory according to the human-robot interaction force to meet the expected gait characteristics under the latter two control strategies. The feasibility and validity of the two control strategies is proved, which will be used in active rehabilitation training.

• Periodical: Applied Mechanics and Materials (Volume 187)
• Pages: 177-185
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.187.177
• Online since: June 2012
• Authors: Zhong Wen, Jin Wu Qian, Lin Yong Shen, Ya Nan Zhang
• Keywords: Adaptive Control, Impedance Control, Rehabilitation Training, Walking Robots

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