Research on Active Training Compliance Control of Ankle Rehabilitation Robot

Authors

Yanbin Liu, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;2. Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing, Henan Province, Henan University of Science and Technology, Luoyang 471003, China;
Xiangyuan Pang, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;
Yanbin Zhang, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;
Bingjing Guo, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;
Jianhai Han, 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;

Abstract

Abstract: In order to ensure that ankle rehabilitation robot can accurately supply arbitrary characteristic training force for patient during active training, the pneumatic muscle redundant parallel driving ankle rehabilitation robot was taken as research objects, the zero error force tracking method and the compliance control strategy for active training were researched. The dynamics model of the ankle rehabilitation robot were set up, based on the impedance control theory, the trajectory planning method for the zero error force tracking was researched, and based on the Lyapunov’s stability theory, the pneumatic muscle redundant parallel driving compliance control strategy was proposed. Rehabilitation training control simulations for the two active training modes including assistance training and resistance training were carried out, and the results show that the robot with the force tracking method and the compliance control strategy can not only ensure training security, but also supply accurate assistance force and resistance force for active ankle rehabilitation training.

Recommended Citation

Liu, Yanbin; Pang, Xiangyuan; Zhang, Yanbin; Guo, Bingjing; and Han, Jianhai (2020) "Research on Active Training Compliance Control of Ankle Rehabilitation Robot," Journal of System Simulation: Vol. 32: Iss. 1, Article 7.
DOI: 10.16182/j.issn1004731x.joss.17-9082
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss1/7

First Page

54

Revised Date

2018-03-20

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-9082

Last Page

60

CLC

TP242

Recommended Citation

Liu Yanbin, Pang Xiangyuan, Zhang Yanbin, Guo Bingjing, Han Jianhai. Research on Active Training Compliance Control of Ankle Rehabilitation Robot[J]. Journal of System Simulation, 2020, 32(1): 54-60.

DOI

10.16182/j.issn1004731x.joss.17-9082