控制理论(社会学)
机器人
控制器(灌溉)
扭矩
阻抗控制
卡尔曼滤波器
观察员(物理)
工程类
模型预测控制
外骨骼
关节刚度
刚度
步态
模块化设计
康复机器人
控制工程
模拟
计算机科学
控制(管理)
物理医学与康复
人工智能
医学
农学
量子力学
结构工程
生物
热力学
物理
操作系统
作者
Wilian M. dos Santos,Adriano A. G. Siqueira
标识
DOI:10.1016/j.conengprac.2019.104177
摘要
This paper proposes an optimal impedance controller for robot-aided rehabilitation of walking, aiming to increase the patient's activity during the therapy. In an online procedure, the joint torques produced by the patient during the gait is estimated using the generalized momenta-based disturbance observer and the Extended Kalman filter algorithm. At the same time, a model predictive control is performed to obtain the instantaneous optimal stiffness parameters of the robot's impedance controller, trying to maximize the patient's active participation by increasing his/her joint torques. In this feasibility study, experiments with a healthy subject, considering a modular lower limb exoskeleton and a set of user's behaviors, are performed to evaluate the proposed controller. The results show the robot stiffness converges to a value which increases the user's active participation.
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