Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation
PAN Lizheng1, SONG Aiguo1, XU Guozheng2, LI Huijun1, XU Baoguo1
1. School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China;
2. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
A control system design method based on dynamic interpolation strategy is proposed to improve the motion control performance of rehabilitation robot. Firstly, the impaired-limb movement features are extracted with sliding standard deviation for a certain data samples, and the real-time physical state of impaired limb is acquired by fuzzy reasoning. Secondly, the appropriate interpolation method for motion control is recommended using dynamic interpolation decision-making mechanism. Finally, the position-based impedance control is adopted to carry out training exercise. The proposed method avoids the limitations of the conventional single-interpolation methods, and effectively integrates the characteristics of different interpolation methods. Experimental results based on WAMTM rehabilitation robot show that the designed control system with proposed method demonstrates better motion control performances under disturbances.
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