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Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation

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Abstract

In this paper, a master-slave control system is proposed and applied in an intention-actuated exoskeletal robot to assist user locomotion and lower extremity rehabilitation simultaneously. In particular, to increase users’ sense of participation, the motion of the exoskeleton and the wheelchair, which is denoted as slave motion in this study, is actuated by the user’s intention, which is denoted as master motion and thus makes patients feel that they are moving the wheelchair. This master-slave motion control system can help to eliminate patients’ fear of medical apparatus and instruments. The bicycling motion actuated by one motor is implemented to realize the rehabilitation motion exercise. Experimental results validate a position-force control strategy for the exoskeleton motors, and show that the proposed method can help users to move around and to exercise their legs simultaneously and effectively.

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Abbreviations

PI:

proportional integral

DOF:

degree of freedom

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Author information

Authors and Affiliations

  1. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China

    Gao Huang, Weimin Zhang, Fei Meng, Zhangguo Yu, Xuechao Chen, Marco Ceccarelli & Qiang Huang

  2. Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China

    Gao Huang, Weimin Zhang, Fei Meng, Zhangguo Yu, Xuechao Chen & Qiang Huang

  3. Laboratory of Robotics and Mechatronics DICeM, University of Cassino and South Latium Via Di Biasio 43, Cassino (Fr), 03043, Italy

    Gao Huang & Marco Ceccarelli

Authors
  1. Gao Huang
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  2. Weimin Zhang
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  7. Qiang Huang
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Correspondence to Weimin Zhang.

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Huang, G., Zhang, W., Meng, F. et al. Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation. Int. J. Precis. Eng. Manuf. 19, 983–991 (2018). https://doi.org/10.1007/s12541-018-0116-x

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  • DOI: https://doi.org/10.1007/s12541-018-0116-x

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