Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism
Xing Jiyuan
Xu Jilong
Liu Fucai
Abstract：Aiming at the people with hip joint dysfunction,a novel weak-coupling parallel hip-joint reha-bilitation mechanism is proposed.The mechanism and human lower limbs form a closed motion chain,so that it has three rotational degrees of freedom,and its rotation center coincides with the human hip joint center,which can meet the need of hip-joint rehabilitation.The human-machine inverse kinematics model is established us-ing the closed loop vector method.The human-machine forward kinematics model is established using the nu-merical method.The fuzzy adaptive proportional-derivative(PD)controller is designed based on the fuzzy con-trol theory.The control law is constructed using the tracking error and its derivative.The parameters of control-lers are adaptively adjusted online using the fuzzy algorithm.The simulation and experiment results show that the fuzzy adaptive PD controller has fast response speed and good tracking effect.
Keywords：Parallel mechanismWeak-couplingHip-joint rehabilitationTrajectory trackingFuzzy adaptive
Publication Date：2024-06-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 41-49 )