A rehabilitation robot with force-position hybrid fuzzy controller: Hybrid fuzzy control of rehabilitation robot

Ming Shaung Ju, Chou Ching K. Lin, Dong Huang Lin, Ing Shiou Hwang, Shu Min Chen

研究成果: Article同行評審

183 引文 斯高帕斯(Scopus)

摘要

The goal of this study was to design a robot system for assisting in the rehabilitation of patients with neuromuscular disorders by performing various facilitation movements. The robot should be able to guide patient's wrist to move along planned linear or circular trajectories. A hybrid position/force controller incorporating fuzzy logic was developed to constrain the movement in the desired direction and to maintain a constant force along the moving direction. The controller was stable in the application range of movements and forces. Offline analyses of data were used to quantitatively assess the progress of rehabilitation. The results show that the robot could guide the upper limbs of subjects in linear and circular movements under predefined external force levels and apply a desired force along the tangential direction of the movements.

原文English
頁(從 - 到)349-358
頁數10
期刊IEEE Transactions on Neural Systems and Rehabilitation Engineering
13
發行號3
DOIs
出版狀態Published - 2005 9月

All Science Journal Classification (ASJC) codes

  • 內科學
  • 一般神經科學
  • 生物醫學工程

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