| Self-adaptive Control Strategy for Exoskeleton to Help Paraplegic Patients Stand Up and Sit Down | |
| Can Wu; Ting Zhang; Yongqiang Liao; Can Wang; Guizhong Wu; Xinyu Wu | |
| 2016 | |
| 会议名称 | IEEE International Conference on Information and Automation(ICIA) |
| 会议地点 | 中国宁波 |
| 英文摘要 | This paper presents a practical control strategy used on lower limb exoskeleton to help paraplegic patients to stand up and sit down. It can make the process more comfortable and stable no matter the crutches are pressed heavy or slight. It is particularly efficient to the robots without drivable ankle joints such SIAT exoskeleton. Stable space was configured to ensure that the real time-generated trajectory won't break the balance of human-robot system. The speed of each joint adjusts to the pressure under the crutches so as to relieve the impact from crutches. The result of experiments shows that the self-adaptive control strategy can not only ensure the stability and fitness, but also form an incentive–“more effort paid, more time saved”. |
| 收录类别 | EI |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10140]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | Can Wu,Ting Zhang,Yongqiang Liao,et al. Self-adaptive Control Strategy for Exoskeleton to Help Paraplegic Patients Stand Up and Sit Down[C]. 见:IEEE International Conference on Information and Automation(ICIA). 中国宁波. |
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