Active impedance controlled supporter for walking rehabilitation robot
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Publication Details
Author list: Wanichnukhrox N., Maneewarn T., Songschon S.
Publisher: Hindawi
Publication year: 2013
eISSN: 1745-4557
Languages: English-Great Britain (EN-GB)
Abstract
In this paper, we described the design of the active impedance supporter and control scheme for the models of the rehabilitation robot and the human which has been simulated by Matlab simmechanics. The idea of this study is to apply the active impedance based control to the supporters which are attached at the thigh and calf of the human model. The supporter will transmit the power from the robot through the human leg and lead the knee joint and hip joint following the gait cycle. Therefore, the simulation can give the data without testing with a human.
Keywords
Active impedance control, Rehabilitation robot, Simmechanics
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