Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models

2021 ◽  
Author(s):  
Ying Li ◽  
Jin Ke ◽  
Jianping Zeng
Keyword(s):  
Lower Limb ◽  
Tracking Control ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

scholarly journals An Open-Structure Treadmill Gait Trainer: From Research to Application

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Jian Li ◽  
Diansheng Chen ◽  
Yubo Fan
Keyword(s):  
Lower Limb ◽  
Motor Impairments ◽  
Security Strategy ◽  
Open Structure ◽  
Rehabilitation Robots ◽  
Actual Use ◽  
Gait Function ◽  
Limb Rehabilitation ◽  
Gait Trainer ◽  
Lower Limb Rehabilitation

Lower limb rehabilitation robots are designed to enhance gait function in individuals with motor impairments. Although numerous rehabilitation robots have been developed, only few of these robots have been used in practical health care, particularly in China. The objective of this study is to construct a lower limb rehabilitation robot and bridge the gap between research and application. Open structure to facilitate practical application was created for the whole robot. Three typical movement patterns of a single leg were adopted in designing the exoskeletons, and force models for patient training were established and analyzed under three different conditions, respectively, and then a control system and security strategy were introduced. After establishing the robot, a preliminary experiment on the actual use of a prototype by patients was conducted to validate the functionality of the robot. The experiment showed that different patients and stages displayed different performances, and results on the trend variations across patients and across stages confirmed the validity of the robot and suggested that the design may lead to a system that could be successful in the treatment of patients with walking disorders in China. Furthermore, this study could provide a reference for a similar application design.

scholarly journals A New Projected Active Set Conjugate Gradient Approach for Taylor-Type Model Predictive Control: Application to Lower Limb Rehabilitation Robots With Passive and Active Rehabilitation

2020 ◽  
Vol 14 ◽  
Author(s):  
Tian Shi ◽  
Yantao Tian ◽  
Zhongbo Sun ◽  
Bangcheng Zhang ◽  
Zaixiang Pang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Conjugate Gradient ◽  
Lower Limb ◽  
Numerical Approach ◽  
Active Set ◽  
Rehabilitation Robots ◽  
Active Rehabilitation ◽  
Limb Rehabilitation ◽  
Gradient Approach ◽  
Lower Limb Rehabilitation

In this paper, a three-order Taylor-type numerical differentiation formula is firstly utilized to linearize and discretize constrained conditions of model predictive control (MPC), which can be generalized from lower limb rehabilitation robots. Meanwhile, a new numerical approach that projected an active set conjugate gradient approach is proposed, analyzed, and investigated to solve MPC. This numerical approach not only incorporates both the active set and conjugate gradient approach but also utilizes a projective operator, which can guarantee that the equality constraints are always satisfied. Furthermore, rigorous proof of feasibility and global convergence also shows that the proposed approach can effectively solve MPC with equality and bound constraints. Finally, an echo state network (ESN) is established in simulations to realize intention recognition for human–machine interactive control and active rehabilitation training of lower-limb rehabilitation robots; simulation results are also reported and analyzed to substantiate that ESN can accurately identify motion intention, and the projected active set conjugate gradient approach is feasible and effective for lower-limb rehabilitation robot of MPC with passive and active rehabilitation training. This approach also ensures computational when disturbed by uncertainties in system.

Mechanical Structure and Control Methods for Lower-Limb Rehabilitation Robots

2021 ◽  
Author(s):  
Wangyang Ge ◽  
Ruoyu Jiang ◽  
Juan Zhao ◽  
Zhentao Liu ◽  
Zhaohui Yang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Control Methods ◽  
Mechanical Structure ◽  
Rehabilitation Robots ◽  
Limb Rehabilitation ◽  
And Control ◽  
Lower Limb Rehabilitation
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