Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao, Shinichirou Yamamoto

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Rehabilitation robots may help the patient improve their recovery by supporting them to perform repetitive, systematic training sessions. Safety and comfortable feeling of the patients who training with robots is an important issue in not only the steady state but also the transient process. In this research, the trajectory tracking control problems of a two-degrees of freedom (2-DOF) robotic orthosis is discussed. The robotic orthosis is powered by pneumatic artificial muscles (PAMs) in an antagonistic configuration. based on a mathematical model, a modified computed torque control scheme is employed to enhance the tracking performance. The effectiveness of the proposed control strategy is verified by the experiments with the participation of different subjects.

本文言語English
ホスト出版物のタイトル40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1719-1722
ページ数4
2018-July
ISBN(電子版)9781538636466
DOI
出版ステータスPublished - 2018 10 26
イベント40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018 - Honolulu, United States
継続期間: 2018 7 182018 7 21

Other

Other40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2018
CountryUnited States
CityHonolulu
Period18/7/1818/7/21

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

フィンガープリント 「Modified Computed Torque Control of a Robotic Orthosis for Gait Rehabilitation」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル