Augmented PID Control of a 2PPR-2PRP Planar Parallel Manipulator for Lower Limb Rehabilitation Applications

2016 ◽  
pp. 391-399
Author(s):  
J. K. Mohanta ◽  
M. Santhakumar ◽  
S. Kurtenbach ◽  
B. Corves ◽  
M. Hüsing
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Parallel Manipulator ◽  
Planar Parallel Manipulator ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Research on the Control System of the Lower Limb Rehabilitation Robot under the Single Degree of Freedom

2014 ◽  
Vol 643 ◽  
pp. 15-20
Author(s):  
Ming Xiong
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Control Algorithm ◽  
Rehabilitation Robot ◽  
Single Degree Of Freedom ◽  
Goal Functions ◽  
Limb Rehabilitation ◽  
Different Characteristics ◽  
Time And Energy ◽  
Lower Limb Rehabilitation

This paper studies the PID control algorithm of foot-pedal lower limb rehabilitation robot which can be viewed as a single closed-loop DC speed regulating system. It is necessary to ensure the steady state of the system under various types of interference and the setting of PID parameters will take a lot of time and energy. For this reason, GA (Genetic Algorithms) is used to set the PID parameters in this paper, PID parameters optimized by different goal functions are presented. The simulation results show that the GA simplifies the setting of PID parameters, for different goal functions make the system outputs have different characteristics.

Cable-Driven Parallel Manipulator for Lower Limb Rehabilitation

2013 ◽  
Vol 459 ◽  
pp. 535-542 ◽  
Author(s):  
Rogério Sales Gonçalves ◽  
João Carlos Mendes Carvalho ◽  
Lucas Antonio Oliveira Rodrigues ◽  
André Marques Barbosa
Keyword(s):  
Lower Limb ◽  
Parallel Manipulator ◽  
Experimental Tests ◽  
Lower Limbs ◽  
Human Gait ◽  
Parallel Structure ◽  
Robotic Devices ◽  
The Individual ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

The development of robotic devices to apply in the rehabilitation process of human lower limbs is justified by the large number of people with lower limb problems due to stroke and/or accidents. Thus, this paper presents a cable-driven parallel manipulator for lower limb rehabilitation which is composed by a fixed base and a mobile platform that can be connected to one cable at most six and can performing the movement of human gait and the individual movements of the hip, the knee and the ankle. This paper starts with a study of the basic movements of the lower limb. Then the kinetostatic and force analysis were presented. The graphical simulation and experimental tests of the cable-driven parallel structure for lower limb rehabilitation movements are presented showing the viability of the proposed structure.

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