An Iterative Learning Algorithm Based on RBF Neural Network in Upper Limb Rehabilitation Robot

Author(s):  
Zaixiang Pang ◽  
Tongyu Wang ◽  
Shuai Liu ◽  
Zhanli Wang ◽  
Xiyu Zhang ◽  
...  
2011 ◽  
Vol 48-49 ◽  
pp. 1345-1350
Author(s):  
Xing Li ◽  
Jian Hui Wang ◽  
Xiao Ke Fang

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.


ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG

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