Paper Info
Title
A novel backstepping adaptive impedance control for an upper limb rehabilitation robot
Abstract
Stroke contributes to hemiplegia, which severely reduces people's ability to perform activities of daily living. Due to the insufficiency of medical resources, there is an urgent need for home-based rehabilitation robot. In this paper, we design a home-based upper limb rehabilitation robot, based on the principle that three axes intersect at one point. A three-dimensional force sensor is equipped at the end of the manipulator to measure the interaction forces between the affected upper limb and the robot during rehabilitation training. The virtual rehabilitation training environment is designed to improve the enthusiasm of patients. A backstepping adaptive fuzzy based impedance control method is proposed for the home-based upper limb rehabilitation robot to prevent secondary injury of the affected limb. The adaptive law is introduced, and the backstepping adaptive fuzzy based impedance controller is proved in details. Experiments results demonstrate the effectiveness of the proposed control method.
Year
DOI
Venue
2019
10.1016/j.compeleceng.2019.106465
Computers & Electrical Engineering
Keywords
Field
DocType
Upper limb,Rehabilitation robot,Backstepping,Impedance control
Rehabilitation,Backstepping,Control theory,Upper limb,Control theory,Computer science,Fuzzy logic,Real-time computing,Impedance control,Robot,Virtual rehabilitation
Journal
Volume
ISSN
Citations 
80
0045-7906
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Jing Bai100.34
Aiguo Song254686.46
Ting Wang3725120.28
Huijun Li47614.37