Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot

Authors

Li Feng, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;;
Zhizheng Wu, 2. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;
Hou Wei, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;;
Xiaofei Qin, 1. School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;;

Abstract

Abstract: In the course of active exercise training for patients with lower limb rehabilitation robots, a treadmill speed coordinated control method based on acceleration suppression is proposed to prevent secondary damage to patients caused by muscle spasms. The mathematical model of treadmill is established by means of system identification. Based on the H₂ optimal design method and the continuous time system switching theory, the treadmill speed PI controller with acceleration suppression is designed. The simulation results show that the controller can not only reduce the acceleration of the treadmill, but also keep the speed of the treadmill track the expected walking speed of the patient, and realize the coordinated control of the speed between the lower limb and the treadmill.

Recommended Citation

Feng, Li; Wu, Zhizheng; Wei, Hou; and Qin, Xiaofei (2019) "Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot," Journal of System Simulation: Vol. 31: Iss. 6, Article 10.
DOI: 10.16182/j.issn1004731x.joss.17-0203
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss6/10

First Page

1111

Revised Date

2017-07-16

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-0203

Last Page

1122

CLC

TH789

Recommended Citation

Li Feng, Wu Zhizheng, Hou Wei, Qin Xiaofei. Treadmill Speed Coordination Control for Lower Limb Rehabilitation Training Robot[J]. Journal of System Simulation, 2019, 31(6): 1111-1122.

DOI

10.16182/j.issn1004731x.joss.17-0203