• 제목/요약/키워드: 혼합 위치/힘 제어기

검색결과 1건 처리시간 0.017초

상지 재활을 위한 3-D 로봇 시스템의 혼합 위치/힘 제어 (Hybrid Position/Force Control of a 3-D Rehabilitation Robot System for Upper Extremities)

  • 이수한;신규현
    • 한국정밀공학회지
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    • 제28권5호
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    • pp.599-605
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    • 2011
  • A 3-D rehabilitation robot system is developed. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. In this paper, a hybrid position/force controller is used for controlling positions and forces simultaneously The controller is tuned according to the robot posture. The active motion modes for rehabilitation program consist of active-resisted motion mode and active-free motion mode. The results of the experiments show that the proposed motion modes provide the intended forces effectively.