Iterative Learning Impedance Control based on Physical Recovery Condition Elevation of Impaired Limb
Rehabilitation robots have been designed to improve the daily life activity ability of patients with impaired limb. In this paper, we proposed a new iterative learning impedance control(ITLC) algorithm, which based on the physical recovery condition of impaired limb. Firstly, we evaluated the physic...
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| Main Authors: | , , , , |
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| Format: | EJournal Article |
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Institute of Advanced Engineering and Science,
2014-02-01.
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| LEADER | 02210 am a22003253u 4500 | ||
|---|---|---|---|
| 001 | ijeecs3131_1232 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a He, Jinbao |e author |
| 100 | 1 | 0 | |e contributor |
| 700 | 1 | 0 | |a Zhuge, Xia |e author |
| 700 | 1 | 0 | |a Luo, Zaifei |e author |
| 700 | 1 | 0 | |a Li, Guojun |e author |
| 700 | 1 | 0 | |a Yinchun, Zhang |e author |
| 245 | 0 | 0 | |a Iterative Learning Impedance Control based on Physical Recovery Condition Elevation of Impaired Limb |
| 260 | |b Institute of Advanced Engineering and Science, |c 2014-02-01. | ||
| 520 | |a Rehabilitation robots have been designed to improve the daily life activity ability of patients with impaired limb. In this paper, we proposed a new iterative learning impedance control(ITLC) algorithm, which based on the physical recovery condition of impaired limb. Firstly, we evaluated the physical recovery condition elevation of impaired limb with periodic force parameter and trajectory tracking ratio(TTR) parameter, and modified the desired impedance on line using fuzzy method according to the change of physical recovery condition. Secondly, we designed an adaptive impedance controller that can be modified using iterative learning method. The convergence was analyzed based upon the Lyapunovlike positive definite sequence, which was monotonically decreasing under the proposed control schemes. DOI : http://dx.doi.org/10.11591/telkomnika.v12i2.3867 | ||
| 540 | |a Copyright (c) 2014 Institute of Advanced Engineering and Science | ||
| 540 | |a http://creativecommons.org/licenses/by-nc-nd/4.0 | ||
| 546 | |a eng | ||
| 690 | |a robot control technology | ||
| 690 | |a rehabilitation robot ; physical recovery condition elevation;impedance control;iterative learning | ||
| 655 | 7 | |a info:eu-repo/semantics/article |2 local | |
| 655 | 7 | |a info:eu-repo/semantics/publishedVersion |2 local | |
| 655 | 7 | |2 local | |
| 786 | 0 | |n Indonesian Journal of Electrical Engineering and Computer Science; Vol 12, No 2: February 2014; 1300-1312 | |
| 786 | 0 | |n 2502-4760 | |
| 786 | 0 | |n 2502-4752 | |
| 786 | 0 | |n 10.11591/ijeecs.v12.i2 | |
| 787 | 0 | |n https://ijeecs.iaescore.com/index.php/IJEECS/article/view/3131/1232 | |
| 856 | 4 | 1 | |u https://ijeecs.iaescore.com/index.php/IJEECS/article/view/3131/1232 |z Get fulltext |