Impedance Control for a novel Composite Modular Lower-Limb Hemiplegic Exoskeleton
- Resource Type
- Conference
- Authors
- Bao, Ruoyu; Li, Pengbo; He, Bailin; Wang, Can; Wu, Xinyu
- Source
- 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR) Real-time Computing and Robotics (RCAR), 2021 IEEE International Conference on. :91-95 Jul, 2021
- Subject
- Computing and Processing
Robotics and Control Systems
Legged locomotion
Training
Analytical models
Smoothing methods
Exoskeletons
Kinematics
Stroke (medical condition)
lower-limb exoskeleton
impedance control
smoothing control
composite modular robots
- Language
This paper proposes a control scheme based on impedance control for the smoothing control of the operating movements of a lower-limb hemiplegic exoskeleton robot on the basis of a new composite modular lower-limb hemiplegic ex-oskeleton(CMLHE) structure. The CMLHE has good structural performance and can be used in the rehabilitation of patients with hemiplegia caused by stroke and other diseases. At the same time, the smoothing control by means of impedance control ensures that patients with lower limb hemiplegia can use the CMLHE to achieve smooth walking movements without additional injuries caused by the CMLHE during the rehabilitation training. This paper analyses the performance of this CMLHE robot based on walking movements and demonstrates through kinematic and kinetic modelling and simulation that the impedance control scheme of this CMLHE robot is feasible and effective and can be more widely used in the rehabilitation training of patients with lower limb hemiplegia.