Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2013.6584196
Title: FAT based adaptive control for a lower extremity rehabilitation device: Simulation results
Authors: Li, J.
Shen, B.
Chew, C.-M. 
Issue Date: 2013
Source: Li, J.,Shen, B.,Chew, C.-M. (2013). FAT based adaptive control for a lower extremity rehabilitation device: Simulation results. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 : 828-832. ScholarBank@NUS Repository. https://doi.org/10.1109/AIM.2013.6584196
Abstract: This paper concerns the control of a newly developed wearable lower extremity rehabilitation device intended to aid stroke patients who are in early phase of rehabilitation or severely affected. The device adopts an anthropomorphic structure actuated on hip and knee joint level in sagittal plane. The device and wearer system is modelled as a simplified two degree of freedom robotic structure with the wearer to be completely passive. Fourier series fitting method is used to obtain the desired hip and knee reference trajectory. Function Approximation Techniques (FAT) based adaptive control strategy is adopted and applied to track the desired gait trajectory. Simulation results show that good tracking performance is achieved, and actuator toques are within a reasonable range. This FAT based adaptive control algorithm could potentially be used in real-time applications. © 2013 IEEE.
Source Title: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
URI: http://scholarbank.nus.edu.sg/handle/10635/73463
ISBN: 9781467353199
DOI: 10.1109/AIM.2013.6584196
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

2
checked on Dec 13, 2017

Page view(s)

15
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.