Version 1
: Received: 23 October 2024 / Approved: 23 October 2024 / Online: 23 October 2024 (19:50:47 CEST)
Version 2
: Received: 4 November 2024 / Approved: 4 November 2024 / Online: 5 November 2024 (11:04:53 CET)
How to cite:
Gam, L. T. H.; Quan, D. H.; Ngoc, P. V. B.; Quan, B. H.; Thanh, B. T. Position-Force Control of a Lower Limb Rehabilitation Robot using Force Feed-Forward and Compensate Gravity Proportional Derivative Method. Preprints2024, 2024101849. https://doi.org/10.20944/preprints202410.1849.v2
Gam, L. T. H.; Quan, D. H.; Ngoc, P. V. B.; Quan, B. H.; Thanh, B. T. Position-Force Control of a Lower Limb Rehabilitation Robot using Force Feed-Forward and Compensate Gravity Proportional Derivative Method. Preprints 2024, 2024101849. https://doi.org/10.20944/preprints202410.1849.v2
Gam, L. T. H.; Quan, D. H.; Ngoc, P. V. B.; Quan, B. H.; Thanh, B. T. Position-Force Control of a Lower Limb Rehabilitation Robot using Force Feed-Forward and Compensate Gravity Proportional Derivative Method. Preprints2024, 2024101849. https://doi.org/10.20944/preprints202410.1849.v2
APA Style
Gam, L. T. H., Quan, D. H., Ngoc, P. V. B., Quan, B. H., & Thanh, B. T. (2024). Position-Force Control of a Lower Limb Rehabilitation Robot using Force Feed-Forward and Compensate Gravity Proportional Derivative Method. Preprints. https://doi.org/10.20944/preprints202410.1849.v2
Chicago/Turabian Style
Gam, L. T. H., Bui Hong Quan and Bui Trung Thanh. 2024 "Position-Force Control of a Lower Limb Rehabilitation Robot using Force Feed-Forward and Compensate Gravity Proportional Derivative Method" Preprints. https://doi.org/10.20944/preprints202410.1849.v2
Abstract
The design and control of lower limb rehabilitation robots for patients after a stroke has gained significant attention. This paper presents the dynamic analysis and control of a 3-degree-of-freedom lower limb rehabilitation robot using combined position-force control based on the force feed-forward and compensate gravity proportional derivative method. In the lower limb rehabilitation robot, the interaction force between the patient with the joints and links of the robot is uncertain and nonlinear due to the disturbance effect of Coriolis force, centrifugal force, gravitational force, and friction force. During recovery stages, forces exerted by the patient's lower limb are considered disturbances. Therefore, to meet the quality requirements in using the rehabilitation robot with different recovery stages of patient training, combining position control and force control is essential. In this paper, we proposed a combinations of proportional-derivative gravity compensation motion control and force feed-forward control to form an advanced combined controller (Position-Force Feedforward Control - PFFC) for a 3 DOF lower limb functional rehabilitation robot. The forces can be sensed using a 3-axis force sensor. In addition, the robot's position parameters are also measured by encoders. The control algorithm is implemented on the STM32F4 Discovery board. Verified test of the proposed control method is shown in the experiments and shown good performance of the system.
Keywords
rehabilitation robot; position-force control; feed-forward control
Subject
Computer Science and Mathematics, Robotics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
