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Iterative Learning Impedance for Lower Limb Rehabilitation Robot
Joint Authors
Guo, Chenhui
Guo, Shuai
Ji, Jiancheng
Xi, Fengfeng (Jeff)
Source
Journal of Healthcare Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-08-01
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper discusses the problem of squatting training of stroke patients.
The main idea is to correct the patient’s training trajectory through an iterative learning control (ILC) method.
To obtain better rehabilitation effect, a patient will typically be required to practice a reference posture for many times, while most of active training methods can hardly keep the patients training with correct posture.
Instead of the conventional ILC strategy, an impedance-based iterative learning method is proposed to regulate the impedance value dynamically and smartly which will help patients correct their posture gradually and perform better.
To facilitate impedance-based ILC, we propose two objectives.
The first objective is to find the suitable values of impedance based on the ILC scheme.
The second objective is to search the moderate learning convergence speed and robustness in the iterative domain.
The simulation and experimental results demonstrate that the performance of trajectory tracking will be improved greatly via the proposed algorithm.
American Psychological Association (APA)
Guo, Chenhui& Guo, Shuai& Ji, Jiancheng& Xi, Fengfeng (Jeff). 2017. Iterative Learning Impedance for Lower Limb Rehabilitation Robot. Journal of Healthcare Engineering،Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1181162
Modern Language Association (MLA)
Guo, Chenhui…[et al.]. Iterative Learning Impedance for Lower Limb Rehabilitation Robot. Journal of Healthcare Engineering No. 2017 (2017), pp.1-9.
https://search.emarefa.net/detail/BIM-1181162
American Medical Association (AMA)
Guo, Chenhui& Guo, Shuai& Ji, Jiancheng& Xi, Fengfeng (Jeff). Iterative Learning Impedance for Lower Limb Rehabilitation Robot. Journal of Healthcare Engineering. 2017. Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1181162
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1181162