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Virtual reality simulation of 5dof upper-limb rehabilitant robot based on repetitive control

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3 Author(s)
Li Xing ; Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China ; Wang Jianhui ; Fang Xiaoke

In this paper, aiming at control method and treatment of upper-limb rehabilitant robot, establish the virtual reality simulation model for 5dof upper-limb rehabilitant robot based on repetitive control, analyzing simulation result. The simulation results show that control accuracy takes the precedence over the traditional methods and it has a fast convergence speed and good stability. The virtual-reality simulation of 5dof upper-limb rehabilitation robot based on repetitive control, which is benefit to understand the complex relationships among the objects, can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

Published in:

Control and Decision Conference (CCDC), 2011 Chinese

Date of Conference:

23-25 May 2011

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