Adaptive Impedance Control for Upper-Limb Rehabilitation Robot Using Evolutionary Dynamic Recurrent Fuzzy Neural Network

2010 ◽  
Vol 62 (3-4) ◽  
pp. 501-525 ◽  
Author(s):  
Guozheng Xu ◽  
Aiguo Song ◽  
Huijun Li
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Impedance Control ◽  
Rehabilitation Robot ◽  
Evolutionary Dynamic ◽  
Upper Limb Rehabilitation ◽  
Fuzzy Neural ◽  
Adaptive Impedance Control ◽  
Limb Rehabilitation ◽  
Recurrent Fuzzy Neural Network

Virtual Reality Simulation of 5dof Upper-Limb Rehabilitation Robot Based on Fuzzy Neural Network

2011 ◽  
Vol 48-49 ◽  
pp. 1345-1350
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Xiao Ke Fang
Keyword(s):  
Neural Network ◽  
Virtual Reality ◽  
Upper Limb ◽  
Evaluation System ◽  
Fuzzy Neural Network ◽  
Rehabilitation Robot ◽  
Virtual Reality Simulation ◽  
Upper Limb Rehabilitation ◽  
Fuzzy Neural ◽  
Limb Rehabilitation

In this paper, aiming at the structure of upper-limb rehabilitation robot, establish the model of algorithmic control based on fuzzy neural network and virtual reality simulation model for 5dof upper-limb rehabilitant robot, and take the elbow joint for example to do simulation analysis. The result of simulation shows the fuzzy neural network control is practicable and its control accuracy takes the precedence over the traditional methods. The virtual-reality simulation of 5dof upper-limb rehabilitation robot, which is benefit to understand the complex relationships among the objects, can emulate the features of real rehabilitation robot, laying a solid foundation for rehabilitation evaluation system and telemedicine.

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