Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Fu Cheng Cao; Li Min Du

doi:10.4028/www.scientific.net/AMM.672-674.1770

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 672-674Impedance Control Based Sliding Mode for Lower...

Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Abstract:

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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Periodical:

Applied Mechanics and Materials (Volumes 672-674)

Pages:

1770-1773

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.672-674.1770

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Online since:

October 2014

Authors:

Fu Cheng Cao*, Li Min Du

Keywords:

Impedance Control, Rehabilitation Robot, Sliding Mode Control

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