scholarly journals Optimized Proportional-Integral-Derivative Controller for Upper Limb Rehabilitation Robot

Electronics ◽  
2019 ◽  
Vol 8 (8) ◽  
pp. 826 ◽  
Author(s):  
M. Kamran Joyo ◽  
Yarooq Raza ◽  
S. Faiz Ahmed ◽  
M. M. Billah ◽  
Kushsairy Kadir ◽  
...  
Keyword(s):  
Upper Limb ◽  
Pid Controller ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Pid Controllers ◽  
Proportional Integral Derivative ◽  
Effective Response ◽  
Upper Limb Rehabilitation ◽  
Proportional Integral ◽  
Limb Rehabilitation

This paper proposes a nature inspired, meta-heuristic optimization technique to tune a proportional-integral-derivative (PID) controller for a robotic arm exoskeleton RAX-1. The RAX-1 is a two-degrees-of-freedom (2-DOFs) upper limb rehabilitation robotic system comprising two joints to facilitate shoulder joint movements. The conventional tuning of PID controllers using Ziegler-Nichols produces large overshoots which is not desirable for rehabilitation applications. To address this issue, nature inspired algorithms have recently been proposed to improve the performance of PID controllers. In this study, a 2-DOF PID control system is optimized offline using particle swarm optimization (PSO) and artificial bee colony (ABC). To validate the effectiveness of the proposed ABC-PID method, several simulations were carried out comparing the ABC-PID controller with the PSO-PID and a classical PID controller tuned using the Zeigler-Nichols method. Various investigations, such as determining system performance with respect to maximum overshoot, rise and settling time and using maximum sensitivity function under disturbance, were carried out. The results of the investigations show that the ABC-PID is more robust and outperforms other tuning techniques, and demonstrate the effective response of the proposed technique for a robotic manipulator. Furthermore, the ABC-PID controller is implemented on the hardware setup of RAX-1 and the response during exercise showed minute overshoot with lower rise and settling times compared to PSO and Zeigler-Nichols-based controllers.

scholarly journals Position Tracking of ML System using CSA Based PID Controller

2019 ◽  
Vol 8 (11) ◽  
pp. 1956-1959
Keyword(s):  
Pid Controller ◽  
Magnetic Levitation ◽  
Search Algorithm ◽  
Cuckoo Search ◽  
Cuckoo Search Algorithm ◽  
Pid Controllers ◽  
Position Tracking ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Simulation Results

The classical proportional integral derivative (PID) controllers are still use in various applications in industry. Magnetic levitation (ML) systems are rigidly nonlinear and sometimes unstable systems. Due to inbuilt nonlinearities of ML systems, tracking of position of ML Systems is still difficult. For the tracking purpose of position, PID controller parameters are found by choosing Cuckoo Search Algorithm (CSA) of optimization. The ranges of parameters are customized by z-n method of parameters. Simulation results show the tracking of position of ML systems using conventional and optimized parameters obtained with the CSA based controller.

scholarly journals Diseño mecánico de un exoesqueleto para rehabilitación de miembro superior

2015 ◽  
Vol 17 (1) ◽  
pp. 79-90 ◽  
Author(s):  
Juan Francisco Ayala Lozano ◽  
Guillermo Urriolagoitia Sosa ◽  
Beatriz Romero Ángeles ◽  
Christopher René Torres San-Miguel ◽  
Luis Antonio Aguilar-Pérez ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Low Cost ◽  
Structure Design ◽  
Upper Limb Rehabilitation ◽  
Palabras Clave ◽  
Mexican Patient ◽  
Almost All ◽  
Limb Rehabilitation

<strong>Título en ingles: Mechanical design of an exoskeleton for upper limb rehabilitation</strong><p><strong>Título corto: Diseño mecánico de un exoesqueleto</strong></p><p><strong>Resumen:</strong> El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método <em>BLITZ QFD</em> para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.</p><p><strong>Palabras clave:</strong> MEF, Blitz QFD, exoesqueletos, diseño mecánico.</p><p><strong>Abstract</strong>: The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient’s height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure.  So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.</p><p><strong>Key words:</strong> FEM, Blitz QFD, exoskeletons, mechanical design<strong>.</strong></p><p><strong>Recibido:</strong> agosto 20 de 2014   <strong>Aprobado:</strong> marzo 26 de 2015</p>

scholarly journals Development and Implementation of an End-Effector Upper Limb Rehabilitation Robot for Hemiplegic Patients with Line and Circle Tracking Training

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Yali Liu ◽  
Chong Li ◽  
Linhong Ji ◽  
Sheng Bi ◽  
Xuemin Zhang ◽  
...  
Keyword(s):  
Upper Limb ◽  
Functional Ability ◽  
Degrees Of Freedom ◽  
Muscle Activation ◽  
Movement Pattern ◽  
Interaction Force ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Numerous robots have been widely used to deliver rehabilitative training for hemiplegic patients to improve their functional ability. Because of the complexity and diversity of upper limb motion, customization of training patterns is one key factor during upper limb rehabilitation training. Most of the current rehabilitation robots cannot intelligently provide adaptive training parameters, and they have not been widely used in clinical rehabilitation. This article proposes a new end-effector upper limb rehabilitation robot, which is a two-link robotic arm with two active degrees of freedom. This work investigated the kinematics and dynamics of the robot system, the control system, and the realization of different rehabilitation therapies. We also explored the influence of constraint in rehabilitation therapies on interaction force and muscle activation. The deviation of the trajectory of the end effector and the required trajectory was less than 1 mm during the tasks, which demonstrated the movement accuracy of the robot. Besides, results also demonstrated the constraint exerted by the robot provided benefits for hemiplegic patients by changing muscle activation in the way similar to the movement pattern of the healthy subjects, which indicated that the robot can improve the patient’s functional ability by training the normal movement pattern.

The Parameterization of All Plants Stabilized by Proportional Controller Formultiple-Input/Multiple-Output Plant

2011 ◽  
Vol 497 ◽  
pp. 246-254
Author(s):  
Takaaki Hagiwara ◽  
Kou Yamada ◽  
Satoshi Aoyama ◽  
An Chinh Hoang
Keyword(s):  
Pid Controller ◽  
Multiple Input Multiple Output ◽  
Pid Controllers ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Multiple Input ◽  
Input Multiple Output ◽  
Proportional Controller

In this paper, we examine the parameterization of all plants stabilized by a proportionalcontroller for multiple-input/multiple-output plant. A proportional controller is a kind of Proportional-Integral-Derivative (PID) controllers. PID controller structure is the most widely used one in industrialapplications. Recently, if stabilizing PID controllers for the plant exist, the parameterization of allstabilizing PID controllers has been considered. However, no paper examines the parameterizationof all plants stabilized by a PID controller. In this paper, we clarify the parameterization of all plantsstabilized by a proportional controller for multiple-input/multiple-output plant. In addition, we presentthe parameterization of all stabilizing proportional controllers for the plant stabilized by a proportionalcontroller.

scholarly journals Diabetics blood glucose control based on GA-FOPID technique

2021 ◽  
Vol 10 (1) ◽  
pp. 516-523
Author(s):  
Wesam M. Jasim ◽  
Yousif I. Al Mashhadany
Keyword(s):  
Glucose Level ◽  
Pid Controller ◽  
Insulin Pump ◽  
Optimization Technique ◽  
Blood Glucose Control ◽  
The Other ◽  
Optimal Controller ◽  
Pid Controllers ◽  
Diabetic Patients ◽  
Proportional Integral Derivative

In this paper, an optimized Fractional Order Proportional, Integral, Derivative based Genetic Algorithm GA-FOPID optimization technique is proposed for glucose level normalization of diabetic patients. The insulin pump with diabetic patient system used in the simulation is the Bergman minimal model, which is used to simulate the overall system. The main purpose is to obtain the optimal controller parameters that regulate the system smoothly to the desired level using GA optimization to find the FOPID parameters. The next step is to obtain the FOPID controller parameters and the traditional PID controller parameters normally. Then, the simulation output results of using the proposed GA-FOPID controller was compared with that of using the normal FOPID and the traditional PID controllers. The comparison shows that all the three controllers can regulate the glucose level but the use of GA-FOPID controller was outperform the use of the other two controllers in terms of speed of normalization and the overshoot value.

The Parameterization of All Plants Stabilizied by a PID Controller for Multiple-Input/Multiple-Output Plants

2013 ◽  
Vol 596 ◽  
pp. 158-167
Author(s):  
Takaaki Hagiwara ◽  
Kou Yamada ◽  
An Chinh Hoang ◽  
Satoshi Aoyama ◽  
Huo Hui
Keyword(s):  
Pid Controller ◽  
Multiple Input Multiple Output ◽  
Pid Controllers ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Multiple Input ◽  
Input Multiple Output

In this paper, we examine the parameterization of all plants that can be stabilized bya Proportional–Integral–Derivative (PID) controller for multiple-input/multiple-output plants.The PID controller structure is the most widely used controller structure in industrial appli-cations. Recently, if stabilizing PID controllers for the plant exist, the parameterization of allstabilizing PID controllers was considered. However, the parameterization of all plants that canbe stabilized by a PID controller for multiple-input/multiple-output plants has not been exam-ined. In this paper, we clarify this question. In addition, we present the parameterization of allstabilizing PID controllers for multiple-input/multiple-output plants that can be stabilized bya PID controller.

Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation

2019 ◽  
Vol 39 (4) ◽  
pp. 715-726
Author(s):  
Leiyu Zhang ◽  
Jianfeng Li ◽  
Shuting Ji ◽  
Peng Su ◽  
Chunjing Tao ◽  
...  
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Compact Structure ◽  
Vertical Movements ◽  
Content Type ◽  
Upper Limb Rehabilitation ◽  
Compatibility Analysis ◽  
Configuration Synthesis ◽  
Limb Rehabilitation

Purpose Upper-limb joint kinematics are highly complex and the kinematics of rehabilitation exoskeletons fail to reproduce them, resulting in hyperstaticity and human–machine incompatibility. The purpose of this paper is to design and develop a compatible exoskeleton robot (Co-Exos II) to address these problems. Design/methodology/approach The configuration synthesis of Co-Exos II is completed using advanced mechanism theory. A compatible configuration is selected and four passive joints are introduced into the connecting interfaces based on optimal configuration principles. A Co-Exos II prototype with nine degrees of freedom (DOFs) is developed and still owns a compact structure and volume. A new approach is presented to compensate the vertical glenohumeral (GH) movements. Co-Exos II and the upper arm are simplified as a guide-bar mechanism at the elevating plane. The theoretical displacements of passive joints are calculated by the kinematic model of the shoulder loop. The compatible experiments are completed to measure the kinematics of passive joints. Findings The compatible configuration of the passive joints can effectively reduce the gravity influences of the exoskeleton device and the upper extremities. The passive joints exhibit excellent compensation effect for the GH joint movements by comparing the theoretical and measured results. Passive joints can compensate for most GH movements, especially vertical movements. Originality/value Co-Exos II possesses good human–machine compatibility and wearable comfort for the affected upper limbs. The proposed compensation method is convenient to therapists and stroke patients during the rehabilitation trainings.

scholarly journals Design and Interaction Control of a New Bilateral Upper-Limb Rehabilitation Device

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Qing Miao ◽  
Mingming Zhang ◽  
Yupu Wang ◽  
Sheng Q. Xie
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Interaction Force ◽  
Upper Limb Rehabilitation ◽  
Interaction Control ◽  
Interactive Training ◽  
Force Tracking ◽  
Limb Rehabilitation ◽  
Future Work ◽  
Time Movement

This paper proposed a bilateral upper-limb rehabilitation device (BULReD) with two degrees of freedom (DOFs). The BULReD is portable for both hospital and home environment, easy to use for therapists and patients, and safer with respect to upper-limb robotic exoskeletons. It was implemented to be able to conduct both passive and interactive training, based on system kinematics and dynamics, as well as the identification of real-time movement intention of human users. Preliminary results demonstrate the potential of the BULReD for clinical applications, with satisfactory position and interaction force tracking performance. Future work will focus on the clinical evaluation of the BULReD on a large sample of poststroke patients.

scholarly journals Sliding Mode Control for 2 Degrees of Freedom Upper Limb Rehabilitation Robotic System under Uncertainties

2019 ◽  
Vol 9 (2) ◽  
pp. 3268-3274
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Rehabilitation Robots ◽  
High Frequency Oscillations ◽  
Limb Rehabilitation

Rehabilitation of patients suffering from post-stroke injuries via robots is now adapted word widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without any monotony failure. Control of these rehabilitation robots is an important part to consider because of nonlinearity and uncertainty of the system. This paper presents nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulator. Sliding mode control is able to handle system uncertainties and parametric changes. One drawback of using SMC is high frequency oscillations called as chattering. This chattering can be reduced by using boundary layer technique. Experiments have been carried out under perturbed conditions and results have shown that SMC performs well and remain stable and thus proves to robust controller for upper limb robotic manipulator.

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