Please use this identifier to cite or link to this item: https://doi.org/10.1007/978-3-642-34103-8_59
Title: Modeling and control of a lower-limb rehabilitation robot
Authors: Ma, Y.
He, W.
Ge, S.S. 
Keywords: adaptive control
Lagrange method
modeling
rehabilitation robot
Issue Date: 2012
Source: Ma, Y.,He, W.,Ge, S.S. (2012). Modeling and control of a lower-limb rehabilitation robot. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 7621 LNAI : 581-590. ScholarBank@NUS Repository. https://doi.org/10.1007/978-3-642-34103-8_59
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. © 2012 Springer-Verlag.
Source Title: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
URI: http://scholarbank.nus.edu.sg/handle/10635/70979
ISBN: 9783642341021
ISSN: 03029743
DOI: 10.1007/978-3-642-34103-8_59
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