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Stroke often leads to hemiplegia, requiring extensive rehabilitation. Passive rehabilitation robots assist patients by performing repetitive movements, necessitating accurate control for safety and effectiveness. This study applies PID control with position and velocity feedback to a knee rehabilitation prototype. Experiments with three participants of different weights showed a maximum error of 6.41% and 3.33% in no-load conditions, demonstrating the control’s effectiveness. PID control offers a simple yet efficient solution, making it suitable for practical implementation in knee rehabilitation robots. Future work will extend this approach to a 3-DoF lower limb rehabilitation system.

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Proposed Control Methods for Knee Rehabilitation Robot for Stroke Survivors

  • 会议论文

  • 发表日期：

    2025年

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  • Nhat N. Nhu,
  • Tung X. Hoang,
  • Quang M. Ha,
  • Hop H. Nguyen,
  • Duc Q. Tran,
  • Tam N. Bui,
  • Trung T. Nguyen

摘要

Stroke often leads to hemiplegia, requiring extensive rehabilitation. Passive rehabilitation robots assist patients by performing repetitive movements, necessitating accurate control for safety and effectiveness. This study applies PID control with position and velocity feedback to a knee rehabilitation prototype. Experiments with three participants of different weights showed a maximum error of 6.41% and 3.33% in no-load conditions, demonstrating the control’s effectiveness. PID control offers a simple yet efficient solution, making it suitable for practical implementation in knee rehabilitation robots. Future work will extend this approach to a 3-DoF lower limb rehabilitation system.