Iterative Learning Impedance Control in Gait Rehabilitation Robot

Fu Cheng Cao; Hai Xin Sun; Li Rong Wang

doi:10.4028/www.scientific.net/AMM.494-495.1084

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 494-495Iterative Learning Impedance Control in Gait...

Iterative Learning Impedance Control in Gait Rehabilitation Robot

Abstract:

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

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Periodical:

Applied Mechanics and Materials (Volumes 494-495)

Pages:

1084-1087

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.494-495.1084

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Online since:

February 2014

Authors:

Fu Cheng Cao*, Hai Xin Sun, Li Rong Wang

Keywords:

Impedance Control, Iterative Learning Control, Rehabilitation Robot

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