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Single-joint repetitive control of upper-limb rehabilitation robot

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4 Author(s)
Jianhui Wang ; Sch. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China ; Xing Li ; Xiaoke Fang ; Liang Dong

Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics. The simulation results show that the effect of system tracking is very well and it has higher stability. It expected results have been achieved.

Published in:

Control and Decision Conference (CCDC), 2010 Chinese

Date of Conference:

26-28 May 2010