Design and control of a cable-driven rehabilitation robot for upper and lower limbs

Robotica ◽  
2021 ◽  
pp. 1-37
Author(s):  
Efe Levent Oyman ◽  
Muhammed Yusuf Korkut ◽  
Cüneyt Ylmaz ◽  
Zeki Y. Bayraktaroglu ◽  
M. Selcuk Arslan
Keyword(s):  
Healthy Subject ◽  
Closed Loop ◽  
Force Feedback ◽  
Impedance Control ◽  
Experimental Studies ◽  
Experimental Results ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
And Control

Abstract The design and control of a cable-driven rehabilitation robot, which can be configured easily for exercising different articulations such as elbows, shoulders, hips, knees and ankles without requiring any orthosis, are introduced. The passive, active-assisted and active-resisted exercises were designed and implemented using impedance control. The controller could switch between exercises according to the force feedback. The effectiveness of the proposed controller was demonstrated by experimental studies. The robot was tested first with a dummy extremity and then with a healthy subject mimicking various types of patients during the tests. Experimental results showed that satisfactory closed-loop performances were achieved.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

A New Methodology for Use in Engine Diagnostics and Control, Utilizing “Synthetic” Engine Variables: Theoretical and Experimental Results

2001 ◽  
Vol 123 (3) ◽  
pp. 528-534 ◽  
Author(s):  
John J. Moskwa ◽  
Wenbo Wang ◽  
Duane J. Bucheger
Keyword(s):  
Closed Loop ◽  
Control Strategies ◽  
Experimental Results ◽  
Medium Size ◽  
Loop Control ◽  
Lawn Care ◽  
Marine Engines ◽  
New Methodologies ◽  
Almost All ◽  
And Control

This paper describes new methodologies and algorithms for use in engine diagnostics that simplify and improve combustion quality monitoring and closed-loop engine control in order to meet stringent emission standards. The “synthetic” variables these algorithms produce can be used to indicate the work produced by each cylinder combustion event at all engine speeds, and can be effectively used for on-board combustion quality measurements, engine diagnostics, and closed-loop control. The algorithms are very simple in form, run in real time, and the methodologies can be applied to compression ignition or spark ignition, 2-stroke or 4-stroke gasoline or diesel engines. Both simulation and experimental results are given for a two-stroke, two-cylinder in-line engine. The rotational dynamics and firing sequence of this configuration of engine is very similar to a four-stroke, four cylinder in-line engine, and nearly identical results will be seen with these two designs. Even more dramatic improvements can be seen with engines of fewer cylinders because of greater variations in their inertial forces. The algorithms can be successfully applied to many other engine configurations as well. Therefore, benefits can be derived from the application of these algorithms and their “synthetic” variables to control strategies for almost all modern small and medium size automotive and marine engines, as well as utility engines used for lawn care, snow removal, and other similar applications.

Implementation and Control of a Rotary Manipulator Driven by Soft Dielectric Electroactive Polymer

2013 ◽  
Vol 461 ◽  
pp. 352-357
Author(s):  
Hua Ming Wang ◽  
Hua An Luo ◽  
Bin Yang
Keyword(s):  
Strain Energy ◽  
Closed Loop ◽  
Force Feedback ◽  
Position Control ◽  
Nonlinear Differential Equations ◽  
Cerebellar Model Articulation Controller ◽  
Force Analysis ◽  
Force Output ◽  
Force Decomposition ◽  
And Control

Dielectric Electroactive Polymers (EAPs) are closest to natural muscles in terms of strain, energy density, efficiency and speed. A 2-DOF (Degree of Freedom) rotary manipulator driven by soft dielectric EAP is designed based on the biological agonist–antagonist configuration. Compact rolled actuators are chosen and implemented to drive the manipulator. To avoid the complicated solving of nonlinear differential equations, electromechanical characteristics of actuators are obtained by measuring their force behavior under different voltages and lengths. A CMAC (Cerebellar model articulation controller) neural network-based closed loop controller is developed to implement the position control of the manipulator and is evaluated by tracking a circle. According to the force analysis of the manipulator, forces of antagonistic actuators are determined by force decomposition to produce the desired force output, and then the voltages for actuators at certain lengths can be calculated through measured electromechanical characteristics. Experiment shows the measured force agrees well with the desired force. Due to the advantages of dielectric EAP, the manipulator has application prospects in areas of rehabilitation, force feedback or flexible manipulation without damage.

Control System Design of 1 DOF Kinesthetic Interface

2015 ◽  
Vol 799-800 ◽  
pp. 1158-1165
Author(s):  
Paolo Righettini ◽  
Alessandro Gotti ◽  
Mattia Rossetti ◽  
Roberto Strada
Keyword(s):  
Closed Loop ◽  
Force Feedback ◽  
Impedance Control ◽  
Laboratory Research ◽  
Control System Design ◽  
Admittance Control ◽  
Control Approach ◽  
Dynamic Accuracy ◽  
High Dynamic ◽  
Natural Dynamics

The aim of this work is to investigate the performance of closed-loop impedance control in the case of a kinesthetic interface, more precisely to propose this control approach even for devices in which the natural dynamics of the system are relevant. This characteristic can be found in an industrial scenario where commercial components are generally used; hence the system can't be optimized as conversely occurs in a laboratory/ research environment where custom components are generally developed. It is shown that it is possible to guarantee a high dynamic accuracy using the closed-loop impedance control with force feedback and model feedforward. Therefore this approach is suggested as a valid alternative of the most diffused admittance control. The device implemented for the tests and the obtained results are described below.

Study on the Lower Limbs Rehabilitation Robotic Control System by sEMG

2012 ◽  
Vol 462 ◽  
pp. 826-832
Author(s):  
Xiao Jun Zhang ◽  
Geng Qian Liu ◽  
Jian Hua Zhang ◽  
Yong Feng Wang
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Robotic Control ◽  
Rehabilitation Robots ◽  
Fuzzy Neural ◽  
Neural Network Classifiers ◽  
And Control

With help training of the lower limbs rehabilitation robot, the hemiplegia patients can be helped effectively recover. Applicable control method plays an important part in performance of lower limbs rehabilitation robot. According to the preferred method, sEMG was collected from no necrosis and healthy muscle, then, the effective action signals which are extracted from the sEMG transit to Fuzzy-Neural network classifiers to identify the movements intention of paralyzed patients, and then the lower limbs rehabilitation robots can assist paralyzed patients to achieve their intent. The simulation results indicate that the Fuzzy-Neural network classifiers can identify the movements intention well, and control method of sEMG can satisfy the demand of lower limbs rehabilitation robot.

scholarly journals Explicit Force Control vs Impedance Control for Micromanipulation

2013 ◽  
Author(s):  
Bilal Komati ◽  
Muhammed R. Pac ◽  
Isura Ranatunga ◽  
Cédric Clévy ◽  
Dan O. Popa ◽  
...  
Keyword(s):  
Force Control ◽  
Closed Loop ◽  
Impedance Control ◽  
Experimental Results ◽  
Simple Method ◽  
Control Laws ◽  
Control Schemes ◽  
Double Mass ◽  
Mass Spring ◽  
Transition Scenario

This paper presents a study of different force control schemes for controlling contact during manipulation tasks at the microscale. Explicit force control and impedance control are compared in a contact transition scenario consisting of a compliant microforce sensor mounted on a microrobotic positioner, and a compliant microstructure fabricated using Silicon MEMS. A traditional double mass-spring-damper model of the overall robot is employed to develop the closed-loop force controllers. Specific differences between the two control schemes due to the microscale nature of contact are highlighted in this paper from the experimental results obtained. The limitations and tradeoffs of the two control laws at the microscale due to the presence of backlash are discussed. A simple method to deal with the pull-off force effects specific to the microscale is proposed. Future improvements of the impedance control schemes to include adaptation are discussed in order to handle objects with unknown stiffness.

scholarly journals A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities

2018 ◽  
Vol 2018 ◽  
pp. 1-18 ◽  
Author(s):  
Trinnachoke Eiammanussakul ◽  
Viboon Sangveraphunsiri
Keyword(s):  
Lower Limb ◽  
Stroke Rehabilitation ◽  
Impedance Control ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Sitting Position ◽  
Rehabilitation Robots ◽  
Training Activities ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

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