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Dynamics Based Fuzzy Adaptive Impedance Control for Lower Limb Rehabilitation Robot

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Neural Information Processing (ICONIP 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11307))

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Abstract

Human-robot interaction control plays a significant role in the research and clinical application of rehabilitation robots. A fuzzy adaptive variable impedance control strategy is proposed in this paper. Firstly, a dynamic model is established by using the Lagrangian method and the traditional friction model, which can be used to predict human-robot interaction forces. Then, a fuzzy adaptive variable impedance control strategy based on the human-robot system dynamic model is designed. In the designed control strategy, the interaction forces, position and velocity errors are taken as the system inputs, and a fuzzy adaptive law is used to adjust the damping and stiffness coefficients. Finally, the dynamics identification experiments and simulation of the fuzzy adaptive variable impedance control strategy are carried out, by which performance of the proposed method is validated.

This research is supported in part by the National Natural Science Foundation of China (Grants 61720106012, 91648208), and the Beijing Municipal Natural Science Foundation (Grant L172050, 3171001).

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Author information

Authors and Affiliations

  1. Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Xu Liang, Weiqun Wang, Zengguang Hou, Shixin Ren, Jiaxing Wang & Liang Peng

  2. University of Chinese Academy of Sciences, Beijing, 100149, China

    Xu Liang, Zengguang Hou, Shixin Ren & Jiaxing Wang

  3. Lanzhou Jiaotong University, Lanzhou, 730070, China

    Zihao Xu

Authors
  1. Xu Liang
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  2. Weiqun Wang
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  3. Zengguang Hou
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  4. Zihao Xu
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  5. Shixin Ren
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  6. Jiaxing Wang
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  7. Liang Peng
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Corresponding author

Correspondence to Zengguang Hou .

Editor information

Editors and Affiliations

  1. The Chinese Academy of Sciences, Beijing, China

    Long Cheng

  2. City University of Hong Kong, Kowloon, Hong Kong

    Andrew Chi Sing Leung

  3. Kobe University, Kobe, Japan

    Seiichi Ozawa

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Liang, X. et al. (2018). Dynamics Based Fuzzy Adaptive Impedance Control for Lower Limb Rehabilitation Robot. In: Cheng, L., Leung, A., Ozawa, S. (eds) Neural Information Processing. ICONIP 2018. Lecture Notes in Computer Science(), vol 11307. Springer, Cham. https://doi.org/10.1007/978-3-030-04239-4_28

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  • DOI: https://doi.org/10.1007/978-3-030-04239-4_28

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-04238-7

  • Online ISBN: 978-3-030-04239-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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