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author:

Lin, Xingmin (Lin, Xingmin.) [1] (Scholars:林幸民) | Xia, Luting (Xia, Luting.) [2] | Ruoyi, Zhao (Ruoyi, Zhao.) [3] | Shieh, Charles (Shieh, Charles.) [4] | Jalalnezhad, Mostafa (Jalalnezhad, Mostafa.) [5]

Indexed by:

Scopus SCIE

Abstract:

Robots are increasingly being used in rehabilitation to assist patients with physical disabilities, particularly the knee joint. Physiotherapists often practice the patient's leg around the knee joint to strengthen the muscles. However, Continuous Passive Motion (CPM) devices face challenges such as lack of feedback and resistance. This thesis aims to address these issues by using admittance and impedance concepts to control the robot's flexible behavior against individual foot forces. The research uses a combination of backstepping and admittance algorithms, Model Reference Adaptive Control (MRAC), Sliding-Backstepping and Admittance Control to create a soft interactive patient-robot interaction. The device is designed for both left and right legs.

Keyword:

admittance Backstepping controller - sliding mode knee joint robot noise

Community:

  • [ 1 ] [Lin, Xingmin]Fuzhou Univ, Xiamen Acad Arts & Design, Xiamen, Peoples R China
  • [ 2 ] [Xia, Luting]Zhejiang Gongshang Univ, Hangzhou Coll Commerce, Hangzhou, Peoples R China
  • [ 3 ] [Ruoyi, Zhao]Zhejiang Gongshang Univ, Dept Art Design, Hangzhou, Peoples R China
  • [ 4 ] [Shieh, Charles]Zhejiang Gongshang Univ, Coll Art Design, Hangzhou Coll Commerce, Hangzhou, Peoples R China
  • [ 5 ] [Jalalnezhad, Mostafa]Univ Kharazmi Iran, Tehran, Iran
  • [ 6 ] [Jalalnezhad, Mostafa]Kharazmij Univ, Dept Mech Engn, Tehran 15614, Iran

Reprint 's Address:

  • [Jalalnezhad, Mostafa]Kharazmij Univ, Dept Mech Engn, Tehran 15614, Iran

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Source :

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE

ISSN: 0954-4062

Year: 2024

1 . 8 0 0

JCR@2023

CAS Journal Grade:4

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count:

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 2

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