Cart (Loading....) | Create Account
Close category search window
 

Motion control design of the lower-limb mobile training robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Syh-Shiuh Yeh ; Dept. of Mech. Eng., Nat. Taipei Univ. of Technol., Taipei ; Hung-Hsiu Yu

This paper aims at the development of the motion control design for a lower-limb mobile training robot that can provide adequate motion functions such as the passive and resistive motions of multiple joints for increasing training performances and for shortening training programs. In this paper, the motion control design includes the design of motion command generator and the design of motion control laws. A parametric curve interpolation algorithm is developed in the design of motion command generator to generate motion commands for the mobile training robot, and the kinematics and force-driven control of two-wheeled mobile robots are used to design the motion control laws. Moreover, by using the developed motion control design, three operation modes: continuous passive motion (CPM) mode, continuous active motion (CAM) mode, and hybrid motion (HM) mode, are designed for the applications of different training programs. Several tests are applied to evaluate the execution performances of the mobile training robot with the developed motion control design, and the experimental results indicate that the training robot is feasible for the applications of lower-limb training and rehabilitation.

Published in:

Industrial Informatics, 2008. INDIN 2008. 6th IEEE International Conference on

Date of Conference:

13-16 July 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.