System identification and HSDBC-optimized PID control of a portable lower-limb rehabilitation device

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.

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Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

2018 IEEE 4th Information Technology and Mechatronics Engineering Conference (ITOEC) ◽

10.1109/itoec.2018.8740757 ◽

2018 ◽

Author(s):

Hongbo Wang ◽

Tingting Lu ◽

Baoshan Niu ◽

Hao Yan ◽

Xincheng Wang ◽

...

Keyword(s):

Pid Control ◽

Lower Limb ◽

Control Algorithm ◽

Rehabilitation Robot ◽

Fuzzy Pid ◽

Fuzzy Pid Control ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Modeling And Position Control Of Human Lower Limb Rehabilitation Robot Using Pneumatic Muscle Actuators

10.36541/0231-000-023-009 ◽

2015 ◽

pp. 61

Author(s):

محمد يوسف حسن ◽

شهد صبيح غنتاب

Keyword(s):

Lower Limb ◽

Position Control ◽

Rehabilitation Robot ◽

Pneumatic Muscle ◽

Muscle Actuators ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Recent Advances on Horizontal Lower Limb Rehabilitation Robot

Recent Patents on Mechanical Engineering ◽

10.2174/2212797610666170421165454 ◽

2017 ◽

Vol 10 (2) ◽

Author(s):

Jingang Jiang ◽

Xuefeng Ma ◽

Biao Huo ◽

Xiaoyang Yu ◽

Xiaowei Guo ◽

...

Keyword(s):

Lower Limb ◽

Rehabilitation Robot ◽

Recent Advances ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

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Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

Author(s):

Fu Cheng Cao ◽

Li Min Du

Keyword(s):

Dynamic Response ◽

Sliding Mode Control ◽

Lower Limb ◽

Control Method ◽

Sliding Mode ◽

Impedance Control ◽

Rehabilitation Robot ◽

Active Rehabilitation ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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