An adaptive self-organizing fuzzy sliding mode controller for a 2-DOF rehabilitation robot actuated by pneumatic muscle actuators

2010 ◽  
Vol 18 (1) ◽  
pp. 13-22 ◽  
Author(s):  
Ming-Kun Chang
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Rehabilitation Robot ◽  
Pneumatic Muscle ◽  
Fuzzy Sliding Mode ◽  
Muscle Actuators ◽  
Self Organizing

scholarly journals Implementation of an Upper-Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators for Rehabilitation

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 106
Author(s):  
Chun-Ta Chen ◽  
Wei-Yuan Lien ◽  
Chun-Ting Chen ◽  
Yu-Cheng Wu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Pneumatic Muscle ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Fuzzy Sliding Mode ◽  
Steel Cables ◽  
Muscle Actuators

Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

Sliding Mode Control of an Exoskeleton Gait Rehabilitation Robot Driven by Pneumatic Muscle Actuators

2015 ◽  
Author(s):  
Jinghui Cao ◽  
Sheng Quan Xie ◽  
Andrew McDaid ◽  
Raj Das
Keyword(s):  
Knee Joint ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Human Gait ◽  
Gait Rehabilitation ◽  
Sliding Mode Controller ◽  
Rehabilitation Robot ◽  
Single Input Single Output ◽  
Pneumatic Muscle ◽  
Muscle Actuators

This paper firstly summarizes a newly developed knee joint mechanism of a gait rehabilitation robot, as well as a modified dynamics model for pneumatic muscle actuators (PMAs). The major sections focus on the development of single-input-single-output sliding mode trajectory tracking controller for the knee mechanism. The sliding mode controller takes the models of the whole system, which include the pneumatic flow dynamics of the analogue valves and PMAs, dynamic model of the PMAs and dynamics of the mechanism, into account. It controls the voltage applied to the valves to track desired angular trajectories of the knee joint. The preliminary experiments on the sliding mode controller have been conducted and the results have indicated that the knee mechanism’s successful tracking of sinusoidal waves with frequencies and magnitudes closed to actual human gait. Currently, the researchers are working on the development of multi-inputs-multi-outputs control of the mechanism for both trajectory tracking and compliance adjustments.

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

2019 ◽  
Vol 46 (6) ◽  
pp. 839-850 ◽  
Author(s):  
Alireza Abbasi Moshaii ◽  
Majid Mohammadi Moghaddam ◽  
Vahid Dehghan Niestanak
Keyword(s):  
Fuzzy Controller ◽  
Sliding Mode ◽  
Good Choice ◽  
Sliding Mode Controller ◽  
Rehabilitation Robot ◽  
Hand Rehabilitation ◽  
Content Type ◽  
System A ◽  
Fuzzy Sliding Mode ◽  
Novel Design

Purpose The purpose of this paper is to introduce a new design for a finger and wrist rehabilitation robot. Furthermore, a fuzzy sliding mode controller has been designed to control the system. Design/methodology/approach Following an introduction regarding the hand rehabilitation, this paper discusses the conceptual and detailed design of a novel wrist and finger rehabilitation robot. The robot provides the possibility of rehabilitating each phalanx individually which is very important in the finger rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot. Findings With the novel design for moving the DOFs of the system, the rehabilitation for the wrist and all phalanges of fingers is done with only two actuators which are combined in one device. These features make the system a good choice for home rehabilitation. To control the robot, a fuzzy sliding mode controller has been designed for the system. The fuzzy controller does not affect the coefficient of the sliding mode controller and uses the overall error of the system to make a control signal. Thus, the dependence of the controller to the model decreases and the system is more robust. The stability of the system is proved by the Lyapunov theorem. Originality/value The paper provides a novel design of a hand rehabilitation robot and a controller which is used to compensate the effects of the uncertain parameters and chattering phenomenon.

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