Research on Active Training Model of Rehabilitation Robot Based on Joint Torque Signal

2nd International Symposium on Application of Materials Science and Energy Materials

材料科学;能源学

Wang, Hongbo^1^2^3 ; Yan, Hao^1 ; Yan, Yonggan^1 ; Li, Yungui^1 ; Niu, Baoshan^1 ; Liu, Meng^3

Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, China^1

Key Laboratory of Advanced Forging and Stamping Technology and Science of Ministry of Education, Yanshan University, China^2

Academy for Engineering and Technology, Fudan University, Shanghai, China^3

关键词: Active trainings;    Damping control;    Inverse solution;    Joint angular velocity;    Man-machine couplings;    Mapping functions;    Mapping relationships;    Rehabilitation robot;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/490/7/072052/pdf
DOI  :  10.1088/1757-899X/490/7/072052

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

This paper constructs a man-machine integrated no-load static model considering the self-balancing of the mechanism, obtains the mapping relationship among joint variable, no-load torque, measured torque and end-force of the patient. According to the damping control strategy, the end force and speed mapping function planning is completed. The joint angular velocities based on the kinematic inverse solution are calculated, which are important parameter of man-machine coupling motion.