Fuzzy Self-Tuning PI Control for the Upper Limb Rehabilitation Robot

2014 ◽  
Vol 556-562 ◽  
pp. 2262-2265
Author(s):  
Yu Ding Cui ◽  
Cai Hua Xiong
Keyword(s):  
Upper Limb ◽  
Time Lag ◽  
Pi Control ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Pneumatic Muscle ◽  
Highly Nonlinear ◽  
Static Performance ◽  
Self Tuning ◽  
Limb Rehabilitation

It is well known that the robot powered by pneumatic muscle actuator (PMA) which with highly nonlinear, time lag and time-varying characteristics is not easy to control. In this paper, we presented a hybrid fuzzy and PI controller for the upper-limb rehabilitation robot which was designed and built in our lab to assist patients post-stroke in the rehabilitation. The experimental results showed that controller can improve dynamic and static performance of the device, then it can control robot effectively to aid patients carrying on the systematized recovery training.

scholarly journals Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Xikai Tu ◽  
Hualin Han ◽  
Jian Huang ◽  
Jian Li ◽  
Chen Su ◽  
...  
Keyword(s):  
Upper Limb ◽  
Low Cost ◽  
Hand Function ◽  
Rehabilitation Robot ◽  
Reach To Grasp ◽  
Daily Lives ◽  
Upper Limb Rehabilitation ◽  
Highly Nonlinear ◽  
Rehabilitation System ◽  
Limb Rehabilitation

The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject’s active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.

Kinematics Analysis and Simulation of Upper Limb Rehabilitation Robot

2014 ◽  
Vol 701-702 ◽  
pp. 711-714
Author(s):  
De Dong Tang ◽  
Ya Qi Zhang ◽  
Yi Liu
Keyword(s):  
Upper Limb ◽  
Robot Design ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Upper Limb Rehabilitation ◽  
Pneumatic Muscle ◽  
Working Space ◽  
Simulation Results ◽  
Limb Rehabilitation ◽  
Muscle Simulation

In order to solve the deficiency of existing rehabilitation robot a novel upper limb rehabilitation robot structure is designed. Kinematics model is established by the method of Denavit-Hartenberg. The robot is driven by pneumatic muscle. Simulation on the robot movement is carried out by the simmechanics of matlab. When the joint is driven, the angle、angular velocity and working space of robot are all obtained. Feasibility of the robot design is confirmed by the simulation results.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Kinematic dexterity analysis of human-robot interaction of an upper limb rehabilitation robot

2020 ◽  
pp. 1-17
Author(s):  
Qing Sun ◽  
Shuai Guo ◽  
Leigang Zhang
Keyword(s):  
Upper Limb ◽  
Constraint Equation ◽  
Human Robot Interaction ◽  
Rehabilitation Robot ◽  
Connecting Rod ◽  
Robot Interaction ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Training ◽  
Limb Rehabilitation ◽  
Training Trajectory

BACKGROUND: The definition of rehabilitation training trajectory is of great significance during rehabilitation training, and the dexterity of human-robot interaction motion provides a basis for selecting the trajectory of interaction motion. OBJECTIVE: Aimed at the kinematic dexterity of human-robot interaction, a velocity manipulability ellipsoid intersection volume (VMEIV) index is proposed for analysis, and the dexterity distribution cloud map is obtained with the human-robot cooperation space. METHOD: Firstly, the motion constraint equation of human-robot interaction is established, and the Jacobian matrix is obtained based on the speed of connecting rod. Then, the Monte Carlo method and the cell body segmentation method are used to obtain the collaborative space of human-robot interaction, and the VMEIV of human-robot interaction is solved in the cooperation space. Finally, taking the upper limb rehabilitation robot as the research object, the dexterity analysis of human-robot interaction is carried out by using the index of the approximate volume of the VMEIV. RESULTS: The results of the simulation and experiment have a certain consistency, which indicates that the VMEIV index is effective as an index of human-robot interaction kinematic dexterity. CONCLUSIONS: The VMEIV index can measure the kinematic dexterity of human-robot interaction, and provide a reference for the training trajectory selection of rehabilitation robot.

CONTROL OF FOREARM MODULE IN UPPER-LIMB REHABILITATION ROBOT FOR REDUCTION AND BIOMECHANICAL ASSESSMENT OF PRONATOR HYPERTONIA OF STROKE PATIENTS

2016 ◽  
Vol 16 (02) ◽  
pp. 1650008 ◽  
Author(s):  
PIN-CHENG KUNG ◽  
CHOU-CHING K. LIN ◽  
SHU-MIN CHEN ◽  
MING-SHAUNG JU
Keyword(s):  
Upper Limb ◽  
Position Control ◽  
Biomechanical Properties ◽  
Torque Control ◽  
Rehabilitation Robot ◽  
Stroke Patients ◽  
Upper Limb Rehabilitation ◽  
Biomechanical Assessment ◽  
Custom Made ◽  
Limb Rehabilitation

Spastic hypertonia causes loss of range of motion (ROM) and contractures in patients with post-stroke hemiparesis. The pronation/supination of the forearm is an essential functional movement in daily activities. We developed a special module for a shoulder-elbow rehabilitation robot for the reduction and biomechanical assessment of pronator/supinator hypertonia of the forearm. The module consisted of a rotational drum driven by an AC servo motor and equipped with an encoder and a custom-made torque sensor. By properly switching the control algorithm between position control and torque control, a hybrid controller able to mimic a therapist’s manual stretching movements was designed. Nine stroke patients were recruited to validate the functions of the module. The results showed that the affected forearms had significant increases in the ROM after five cycles of stretching. Both the passive ROM and the average stiffness were highly correlated to the spasticity of the forearm flexor muscles as measured using the Modified Ashworth Scale (MAS). With the custom-made module and controller, this upper-limb rehabilitation robot may be able to aid physical therapists to reduce hypertonia and quantify biomechanical properties of the muscles for forearm rotation in stroke patients.

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