Model reference adaptive impedance control in lower limbs rehabilitation robot

2017 ◽  
Author(s):  
Xianyao Lv ◽  
Junwei Han ◽  
Chifu Yang ◽  
Dacheng Cong
Keyword(s):  
Impedance Control ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Model Reference ◽  
Adaptive Impedance Control ◽  
Model Reference Adaptive

Model reference adaptive impedance control for physical human-robot interaction

2016 ◽  
Vol 14 (1) ◽  
pp. 68-82 ◽  
Author(s):  
Bakur Alqaudi ◽  
Hamidreza Modares ◽  
Isura Ranatunga ◽  
Shaikh M. Tousif ◽  
Frank L. Lewis ◽  
...  
Keyword(s):  
Impedance Control ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Model Reference ◽  
Adaptive Impedance Control ◽  
Model Reference Adaptive

A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis

Robotica ◽  
2019 ◽  
Vol 37 (9) ◽  
pp. 1562-1581 ◽  
Author(s):  
Siamak Heidarzadeh ◽  
Mojtaba Sharifi ◽  
Hassan Salarieh ◽  
Aria Alasty
Keyword(s):  
Closed Loop ◽  
Impedance Control ◽  
Nonlinear Dynamic Model ◽  
Model Reference ◽  
Impedance Model ◽  
Prosthetic Foot ◽  
Robust Model ◽  
Asymptotic Tracking ◽  
Adaptive Impedance Control ◽  
Model Reference Adaptive

SummaryIn this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable feedbacks of accelerations at the socket place. Moreover, an appropriate Series Elastic Actuator (SEA) mechanism for the prosthetic ankle is included in this work and its effects are discussed. Tracking performance and stability of the closed-loop system are proven via the Lyapunov stability analysis. Using simulations on an overall amputee prosthetic foot system, the effectiveness of the proposed RMRAIC controller is investigated for the task of level ground walking.

scholarly journals A model reference adaptive variable impedance control method for robot

2021 ◽  
Vol 336 ◽  
pp. 03005
Author(s):  
Xinchao Sun ◽  
Lianyu Zhao ◽  
Zhenzhong Liu
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Control Method ◽  
Impedance Control ◽  
Tracking Error ◽  
Reference Trajectory ◽  
Control Parameters ◽  
Model Reference ◽  
Force Tracking ◽  
Model Reference Adaptive

As a simple and effective force tracking control method, impedance control is widely used in robot contact operations. The internal control parameters of traditional impedance control are constant and cannot be corrected in real time, which will lead to instability of control system or large force tracking error. Therefore, it is difficult to be applied to the occasions requiring higher force accuracy, such as robotic medical surgery, robotic space operation and so on. To solve this problem, this paper proposes a model reference adaptive variable impedance control method, which can realize force tracking control by adjusting internal impedance control parameters in real time and generating a reference trajectory at the same time. The simulation experiment proves that compared with the traditional impedance control method, this method has faster force tracking speed and smaller force tracking error. It is a better force tracking control method.

Nonlinear time delay estimation based model reference adaptive impedance control for an upper-limb human-robot interaction

2021 ◽  
pp. 095441192110549
Author(s):  
Javad Omrani ◽  
Majid M Moghaddam
Keyword(s):  
Time Delay ◽  
Impedance Control ◽  
Adaptive Controller ◽  
Time Delay Estimation ◽  
Human Robot Interaction ◽  
Delay Estimation ◽  
Tracking Errors ◽  
Model Reference ◽  
Dynamic Relationship ◽  
Model Reference Adaptive

A nonlinear Time Delay Estimation (TDE) based model reference adaptive impedance controller was developed for Tarbiat Modares University Upper Limbs Rehabilitation Robot (TUERR). The proposed controller uses a stable reference impedance model, which produces desired dynamic relationship between applied force and position error for the robot End-effector to track the desired trajectory. TDE based model reference adaptive controller estimates unknown system dynamics and uncertainties, and the adaption law modifies the controller gains. Using a Lyapunov function was shown trajectory tracking errors in the overall system are bounded. In addition, a performance-based velocity profile proposed to modify the pace of trajectory planning considering the deviation from the desired path. Finally, the performance of the presented controller and rehabilitation process is experimentally investigated for TUERR.

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