Force/torque sensorless impedance control for indirect driven robot-aided gait rehabilitation system

Quoc Van Tran, Sehun Kim, Kyunghwan Lee, Sungchul Kang, J. Ryu
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引用次数: 12

Abstract

Robot gait rehabilitation has been emerging as an important training technique for patients whose ability to walk is impaired. The “patient-cooperative” approaches are able to detect patient's voluntary efforts and allow patients to actively influence a gait pattern during rehabilitation processes. The impedance control method is a key technique of “patient-cooperative” strategies that allows deviating desired trajectories by sensing interaction torque. This paper introduces an indirect drive gait training rehabilitation robot system which composed of timing belt and harmonic drive transmissions. We present compensation methods and investigate reaction torque observer (ROB) for estimating patient/robot interaction torque and its application in force/torque sensorless impedance control of patient-cooperative strategy in gait rehabilitation.
间接驱动机器人辅助步态康复系统的无力/扭矩阻抗控制
机器人步态康复已成为行走能力受损患者的重要训练技术。“患者-合作”方法能够检测患者的自愿努力,并允许患者在康复过程中积极影响步态模式。阻抗控制方法是“病人-合作”策略的关键技术,它可以通过感知交互力矩来偏离期望的轨迹。介绍了一种由同步带和谐波传动组成的间接驱动步态训练康复机器人系统。提出了一种补偿方法,并研究了用于估计患者/机器人交互扭矩的反应扭矩观测器(ROB)及其在步态康复患者-协作策略的无力/扭矩阻抗控制中的应用。
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