Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

机译：下肢康复机器人的模糊PID控制算法研究

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Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.

机译：脑血管疾病，偏瘫和截瘫可能导致下肢运动功能障碍。根据神经康复理论，适当的康复训练可以帮助患者康复。本文提出了一种下肢康复机器人，它可以实现被动训练和主动训练。首先，设计了机械结构和电气系统。其次，为解决机器人关节转矩控制动力学模型参数不准确的问题，将负反馈与PID调节器相结合，建立了模糊自适应PID控制器，消除了系统误差。

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来源
《2018 IEEE 4th Information Technology and Mechatronics Engineering Conference》|2018年|956-960|共5页
会议地点 Chongqing(CN)
作者
Hongbo Wang; Tingting Lu; Baoshan Niu; Hao Yan; Xincheng Wang; Jianyu Chen; Yungui Li;
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作者单位

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

Parallel Robot and Mechatronic System Laboratory of Hebei Province;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Training; Rehabilitation robotics; Legged locomotion; PI control; PD control; Robot sensing systems;

机译：培训;康复机器人;步态缓慢; PI控制; PD控制;机器人感应系统;;

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1. Optimized intelligent control of a 2-degree of freedom robot for rehabilitation of lower limbs using neural network and genetic algorithm [J] . Wahab Aminiazar, Farid Najafi, Mohammad Ali Nekoui Journal of NeuroEngineering Rehabilitation . 2013,第1期

机译：基于神经网络和遗传算法的2自由度下肢康复机器人智能优化控制
2. Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons [J] . Jiménez-FabiánR., VerlindenO. Medical engineering & physics. . 2012,第4期

机译：下肢矫形器，假肢和外骨骼的机器人脚踝系统控制算法综述
3. A CONTROL STRATEGY FOR DEVELOPED LOWER LIMBS ROBOTIC REHABILITATION CHAIR [J] . Mamou Amine M., Saadia Nadia International Journal of Robotics & Automation . 2017,第6期

机译：开发下肢机器人康复椅的控制策略
4. Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot [C] . Hongbo Wang, Tingting Lu, Baoshan Niu, IEEE Information Technology and Mechatronics Engineering Conference . 2018

机译：下肢康复机器人模糊PID控制算法研究
5. Design and control of a 2 degree of freedom upper limb robotic rehabilitation device. [D] . Murphy, Patrick Joseph. 2013

机译：2自由度上肢机器人康复装置的设计和控制。
6. Optimized intelligent control of a 2-degree of freedom robot for rehabilitation of lower limbs using neural network and genetic algorithm [O] . Wahab Aminiazar, Farid Najafi, Mohammad Ali Nekoui 2013

机译：基于神经网络和遗传算法的2自由度下肢康复机器人智能优化控制
7. Control of Lower Limb Rehabilitation Robot Based on Fuzzy PID [O] . Wenyu Huang, Haibo Xu, Xing Fan, 2018

机译：基于模糊PID的下肢康复机器人控制

Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

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