Training strategies for a lower limb rehabilitation robot based on impedance control
This paper proposes three training strategies based on impedance control, including passive training, damping active training and spring active training, for a 3 DOF lower limb rehabilitation robot designed for patients with paraplegia or hemiplegia. Controllers with similar structure are developed for these training strategies, consisting of dual closed loops, the outer impedance control loop and the inner position/velocity control loop, known as position based impedance control method. Simulation results verify that position based impedance control approach is feasible to accomplish the training strategies.
2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society