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BMEI
2009
IEEE

Active and Passive Control of an Exoskeleton with Cable Transmission for Hand Rehabilitation

9 years 5 months ago
Active and Passive Control of an Exoskeleton with Cable Transmission for Hand Rehabilitation
This paper investigates the control algorithm of an exoskeleton for hand rehabilitation, which accomplishes both active and passive control mode. A double closed loop control structure is developed, which consists of position control loop and compensation control loop. The position controller is based on impedance control. The compensation controller is used for compensating the position error caused by deflection of the cable and sheath in the mechanical transmission. To realize the compensation, the spring model is used to represent the elasticity of the cable and sheath. With the proposed method,
Shuang Wang, Jiting Li, Yuru Zhang, Ju Wang
Added 08 Nov 2010
Updated 08 Nov 2010
Type Conference
Year 2009
Where BMEI
Authors Shuang Wang, Jiting Li, Yuru Zhang, Ju Wang
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