Force field control for the three-dimensional gait adaptation using a lower limb rehabilitation robot
Nowadays limited to the current structure of the lower limb rehabilitation robot, the force field control method is mainly applied in the sagittal plane to improve the active participation of patients in rehabilitation training. However, human locomotion is a three-dimensional motion. Only the sagittal plane motion causes the discordance between the patient and robot, thereby affecting the effect of the rehabilitation. In this paper, a novel force field control for the three-dimensional gait adaptation is designed using a lower limb rehabilitation robot. In this method, trajectories of ankle center position in the three-dimensional space measured by motion capture system were fitted to establish the Frenet frame. The force field controller was designed based on the representation of the position error to guide the ankle center to move on a target trajectory in the three-dimensional space. Simulation results show that the designed control system can effectively realize motion control in different modes.
KeywordsAssist as needed Force field control Rehabilitation robot Three-dimensional gait adaptation
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