[1]ZHANG Li-xun,WANG Ke-yi,XU Sheng-lin.Control and simulation of a wiredriven rehabilitative r obot[J].CAAI Transactions on Intelligent Systems,2008,3(1):51-56.
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Control and simulation of a wiredriven rehabilitative r obot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 3 Number of periods: 2008 1 Page number: 51-56 Column: 学术论文—智能系统 Public date: 2008-02-25
Title:
Control and simulation of a wiredriven rehabilitative r obot
Author(s):
ZHANG Li-xun;  WANG Ke-yi;  XU Sheng-lin
College of Mechanical and Electrical Engineering, Harbin Engineering Universit y, Harbin 150001, China
Keywords:
wiredriven;  tension control;  servo control;  pelvic motion
CLC:
TP242.3；TP273
DOI:
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Abstract:
Rehabilitative robots function in a typical manmachine cooperation s y stem. In this system, robot and patient must occupy the same space, making compl iance and safety essential requirements. Since wiredriven systems have such ch a racteristics as good compliance, light weight, and without rigid hitting or stri king with patients, they are well suited for driving rehabilitative robots. Howe ver, wires can only provide tensile force, so they must have an opposing driving system to regulate motion. Force control is required in a wire position servo s ystem to ensure it demands appropriate effort from the patient and maintains the patient in the correct position. A wire position servo system was designed for control of the motion of a human’s pelvis. Proportional and integral (PI) and p roportional and derivative (PD) controllers were designed with Sisotool in Matla b. Finally, interaction between tension and position was simulated and analyzed, proving that wiredriven modes can effectively control pelvic motion. This met hod can also be applied and extended to control other wiredriven modes.
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