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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".
会议名称:

第35届中国控制会议

会议时间:

2016-07-27

会议地点:

中国四川成都

  • 专辑:

    医药卫生科技; 信息科技

  • 专题:

    临床医学; 自动化技术

  • 分类号:

    TP242;R49

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