Force-position control for a miniature camera robotic system for single-site surgery

Rivas-Blanco, Irene; Bauzano, E.; Cuevas-Rodríguez, María; Saz-Orozco, P. del; Muñoz, V.F.

doi:10.1109/iros.2013.6696790

Cited by 4 publications

(1 citation statement)

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“…However, due to the position/force dynamic relationship being adjusted to increase robot compliance in impedance control, it increases the difficulty of guaranteeing the trajectory tracking effect of the robot in lower limb rehabilitation training ( Lv et al, 2017 ). The common position/force hybrid control strategy allows patients to bear a certain amount of resistance close to the preset trajectory, which limits the active participation of patients ( Rivas-Blanco et al, 2013 ).…”

Section: Introductionmentioning

confidence: 99%

Force/position-based velocity control strategy for the lower limb rehabilitation robot during active training: design and validation

Tian,

Wang,

et al. 2024

Front. Bioeng. Biotechnol.

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Aiming at the shortcomings of most existing control strategies for lower limb rehabilitation robots that are difficult to guarantee trajectory tracking effect and active participation of the patient, this paper proposes a force/position-based velocity control (FPVC) strategy for the hybrid end-effector lower limb rehabilitation robot (HE-LRR) during active training. The configuration of HE-LRR is described and the inverse Jacobian analysis is carried out. Then, the FPVC strategy design is introduced in detail, including normal velocity planning and tangential velocity planning. The experimental platform for the HE-LRR system is presented. A series of experiments are conducted to validate the FPVC strategy’s performance, including trajectory measurement experiments, force and velocity measurement experiments, and active participation experiments. Experimental studies show that the end effector possesses good following performance with the reference trajectory and the desired velocity, and the active participation of subjects can be adjusted by the control strategy parameters. The experiments have verified the rationality of the FPVC strategy, which can meet the requirements of trajectory tracking effect and active participation, indicating its good application prospects in the patient’s robot-assisted active training.

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Section: Introductionmentioning

confidence: 99%