Application of dynamics parameter identification of limb for rehabilitation robot

Abstract

Each rehabilitant has various characteristics, so rehabilitation robot must perceive the rehabilitant states and then adopt corresponding training mode and control strategy. Thereby whether the state of a rehabilitative limb can be obtained correctly is very significant for a rehabilitation robot during the training. A new method of dynamics parameter identification of limb based on BP (back propagation) artificial neutral network is brought forward to provide dependable information of limb for rehabilitation robot. The simulation results demonstrate that the method of parameter identification can achieve the state of a rehabilitation limb veraciously and robustly. It can suit rehabilitants at different stages of rehabilitation even if a spasm happens during training.