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International Journal of Engineering، جلد ۲۷، شماره ۳، صفحات ۴۶۷-۴۷۴
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| عنوان فارسی |
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| چکیده فارسی مقاله |
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| کلیدواژه‌های فارسی مقاله |
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| عنوان انگلیسی |
A New Intelligent Approach to Patient-cooperative Control of Rehabilitation Robots |
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| چکیده انگلیسی مقاله |
This paper presents a new intelligent method to control rehabilitation robots by mainly considering reactions of patient instead of doing a repetitive preprogrammed movement. It generates a general reference trajectory based on different reactions of patient during therapy. Three main reactions has been identified and included in reference trajectory: small variations, force shocks in a single moment and variable level of participation. This reference trajectory can facilitate every kind of patient-cooperative controller of rehabilitation with an evaluation factor. A simple planar 2-DOF exoskeleton is used as rehabilitation robot for leg therapy. The low level controller used here is Brain Emotional Learning Based Intelligent Controller (BELBIC) which is participating to develop an admittance control scheme. Performance of this controller has compared to PID with simulations and better results have observed specially in control signal and speed of reaction when controller encounters a force shock. |
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| کلیدواژه‌های انگلیسی مقاله |
Admittance Control, BELBIC, Rehabilitation Robot |
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| نویسندگان مقاله |
Mozafar Saadat |
, University of Birmingham
Naghmeh Garmsiri |
, K. N. Toosi Unversity of Technology
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| نشانی اینترنتی |
http://www.ije.ir/article_72275_127ea5b19d9f95d65d5d14469e3de3af.pdf |
| فایل مقاله |
اشکال در دسترسی به فایل - ./files/site1/rds_journals/409/article-409-2062770.pdf |
| کد مقاله (doi) |
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| زبان مقاله منتشر شده |
en |
| موضوعات مقاله منتشر شده |
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| نوع مقاله منتشر شده |
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