Abstract
A walking companion robot is presented for rehabilitation from dyskinesia of lower limbs in this article. A new human–robot interface (HRI) is designed which adopts one-axis force sensor and potentiometer connector to detect the motion of the user. To accompany in displacement and angle between the user and the robot precisely in real time, the common motions are classified into two elemental motion states. With distinction method of motion states, a classification scheme of motion control is adopted. The mathematical model-based control method is first introduced and the corresponding control systems are built. Due to the unavoidable deviation of the mathematical model-based control method, a force control method is proposed and the corresponding control systems are built. The corresponding simulations demonstrate that the efficiency of the two proposed control methods. The experimental data and paths of robot verify the two control methods and indicate that the force control method can better satisfy the user’s requirements.
Highlights
Many countries have stepped into aging societies with many ambulation dysfunction people
Robotics is regarded as a promising technology to solve this problem.[2,3]
The main difficulties in developing a walker robot lie in the following three aspects: (1) robot mechanism design; (2) human–robot interface; and (3) control system based on the human–robot interface
Summary
Many countries have stepped into aging societies with many ambulation dysfunction people. They have to face the shortage of nursing care.[1] There are growing requirements in developing mechanism equipment to replace nursing in helping those people to walk. Robotics is regarded as a promising technology to solve this problem.[2,3]. Scholars and researchers have made some contributions to developing intelligent walker robot recent years. The main difficulties in developing a walker robot lie in the following three aspects: (1) robot mechanism design; (2) human–robot interface; and (3) control system based on the human–robot interface
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