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	Rehabilitation with lower limb exoskeleton robot joint load adaptive server control
	Shaomin Zhang; Can Wang; Ying Hu; Can Wu; Ting Zhang; Xinyu Wu
	2016
会议名称	IEEE International Conference on Information and Automation(ICIA)
会议地点	中国宁波
英文摘要	In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia, so driving joints was designed based on fuzzy control. Load adaptive servo controller makes the robot in rows, counter rotating torque moment of inertia of change and change has a better adaptability, and improves the smoothness of joint movement. This method was tested and the test on SIAT exoskeletons, verify the feasibility of joint adaptive control algorithm.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/10138]
专题	深圳先进技术研究院_集成所
作者单位	2016
推荐引用方式 GB/T 7714	Shaomin Zhang,Can Wang,Ying Hu,et al. Rehabilitation with lower limb exoskeleton robot joint load adaptive server control[C]. 见:IEEE International Conference on Information and Automation(ICIA). 中国宁波.

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