Research on the Rehabilitation Robot Control Methods for Analysis of Lower Limb Kinetics during Sit to Stand Process

Abstract:

A new method for analyzing lower limb kinetics during sit to stand process is presented, and a trajectory control method (TCM) and an impedance control method (ICM) for a rehabilitation robot are developed. During the sit to stand process (SSP), body segment rotational angles, movement trajectories, ground reaction forces (GRF), center of pressure (COP) and rope tensile forces are measured by the robot sensor system, and the joint moments of ankle, knee and hip are calculated in real-time control program. Test experiments were performed on six volunteers. The experimental results validate the theory that the control methods can assure the accomplishment of the sit to stand process in comfortable postures, and improve the condition of joint moments. The control methods are suitable for self-supported home training, and can be applied to assess kinetics parameters during the sit to stand process and improve the rehabilitation of patients.

• Periodical: Applied Mechanics and Materials (Volume 742)
• Pages: 535-539
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.742.535
• Online since: March 2015
• Authors: Kun Liu*, Jian Chen Zhao, En Guo Cao, Xuan Han
• Keywords: Control Methods, Lower Limb Kinetics, Rehabilitation Robot, Sit to Stand

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