Control Strategy of Upper Limb Rehabilitation Exoskeleton based on Impedance Control and Position Feedback

Yan Bo, Wei Wei

2022

Abstract

The upper limb rehabilitation exoskeleton was designed based on the human movement mode, and the kinematics and dynamics of the exoskeleton were modeled by simulink. The double closed-loop control system composed of impedance controller and position feedback was designed according to the control requirements. Based on the movement requirements, The parameters were adjusted adaptively to meet the design needs, and the conclusion was proved through simulation experiments.

Paper Citation

in Harvard Style

Bo Y. and Wei W. (2022). Control Strategy of Upper Limb Rehabilitation Exoskeleton based on Impedance Control and Position Feedback. In Proceedings of the 1st International Conference on Health Big Data and Intelligent Healthcare - Volume 1: ICHIH, ISBN 978-989-758-596-8, pages 379-384. DOI: 10.5220/0011370500003438

in Bibtex Style

@conference{ichih22,
author={Yan Bo and Wei Wei},
title={Control Strategy of Upper Limb Rehabilitation Exoskeleton based on Impedance Control and Position Feedback},
booktitle={Proceedings of the 1st International Conference on Health Big Data and Intelligent Healthcare - Volume 1: ICHIH,},
year={2022},
pages={379-384},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011370500003438},
isbn={978-989-758-596-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 1st International Conference on Health Big Data and Intelligent Healthcare - Volume 1: ICHIH,
TI - Control Strategy of Upper Limb Rehabilitation Exoskeleton based on Impedance Control and Position Feedback
SN - 978-989-758-596-8
AU - Bo Y.
AU - Wei W.
PY - 2022
SP - 379
EP - 384
DO - 10.5220/0011370500003438