Adaptive impedance control based on dynamic recurrent fuzzy neural network for upper-limb rehabilitation robot

2009 ◽  
Author(s):  
Guozheng Xu ◽  
Aiguo Song
Keyword(s):  
Neural Network ◽  
Upper Limb ◽  
Fuzzy Neural Network ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Fuzzy Neural ◽  
Adaptive Impedance Control ◽  
Limb Rehabilitation ◽  
Recurrent Fuzzy Neural Network

Virtual Reality Simulation of 5dof Upper-Limb Rehabilitation Robot Based on Fuzzy Neural Network

2011 ◽  
Vol 48-49 ◽  
pp. 1345-1350
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Xiao Ke Fang
Keyword(s):  
Neural Network ◽  
Virtual Reality ◽  
Upper Limb ◽  
Evaluation System ◽  
Fuzzy Neural Network ◽  
Rehabilitation Robot ◽  
Virtual Reality Simulation ◽  
Upper Limb Rehabilitation ◽  
Fuzzy Neural ◽  
Limb Rehabilitation

In this paper, aiming at the structure of upper-limb rehabilitation robot, establish the model of algorithmic control based on fuzzy neural network and virtual reality simulation model for 5dof upper-limb rehabilitant robot, and take the elbow joint for example to do simulation analysis. The result of simulation shows the fuzzy neural network control is practicable and its control accuracy takes the precedence over the traditional methods. The virtual-reality simulation of 5dof upper-limb rehabilitation robot, which is benefit to understand the complex relationships among the objects, can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

Control System Design of Upper Limb Rehabilitation Robot

2013 ◽  
Vol 310 ◽  
pp. 477-480 ◽  
Author(s):  
Gang Yu ◽  
Jin Wu Qian ◽  
Lin Yong Shen ◽  
Ya Nan Zhang
Keyword(s):  
Control System ◽  
Upper Limb ◽  
Impedance Control ◽  
Medical Personnel ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Simulation And Experiment ◽  
Limb Rehabilitation ◽  
Active Training

In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.

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