IJE TRANSACTIONS C: Aspects Vol. 27, No. 3 (March 2014) 467-474   

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N. Garmsiri, F. Najafi and M. Saadat
( Received: January 01, 2013 – Accepted: August 22, 2013 )

Abstract    This paper presents a new intelligent method to control rehabilitation robots by mainly considering reactions of patient instead of doing a repetitive preprogrammed movement. It generates a general reference trajectory based on different reactions of patient during therapy. Three main reactions has been identified and included in reference trajectory: small variations, force shocks in a single moment and variable level of participation. This reference trajectory can facilitate every kind of patient-cooperative controller of rehabilitation with an evaluation factor. A simple planar 2-DOF exoskeleton is used as rehabilitation robot for leg therapy. The low level controller used here is Brain Emotional Learning Based Intelligent Controller (BELBIC) which is participating to develop an admittance control scheme. Performance of this controller has compared to PID with simulations and better results have observed specially in control signal and speed of reaction when controller encounters a force shock.


Keywords    Admittance Control, BELBIC, Rehabilitation Robot


چکیده    در اين مقاله روش جديد هوشمندي جهت کنترل رباتهاي توانبخشي که در آنها عمدتا کنترل بر اساس تعامل ربات با بيمار انجام مي شود و رفتار تکراري ربات حذف مي گردد ، ارائه شده است . اين روش مسيرهاي مرجعي را بر اساس عکس العملهاي بيمار در خلال درمان، ايجاد مي نمايد. سه عکس العمل عمده شناسايي گرديده و در مسير مرجع لحاظ گرديدند که عبارتند از ؛ تغييرات کوچک ، ضربات نيروي در يک لحظه و سطوح مختلف همکاري بيمار با سيستم . مسير مرجع پيشنهادي باعث ساده شدن کنترل تعاملي ربات توانبخشي به همراه يک شاخص عملکردي مي شود. يک ربات برون پوش صفحه ايي دو درجه آزادي جهت توانیخشي پا مورد استفاده قرار گرفته است. کنترل سطح پايين مورد استفاده از نوع هوشمند بر اساس آموزشي احساس مغز (BELBIC) بوده که به منظور ايجاد ادميتانس مناسب ، به کار گرفته شده است. عملکرد سيستم پيشنهادي با يک کنترلر PID مقايسه شده و سرعت عمل سريعتر آن در حين ضربات نيرويي نشان داده شده است.



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