A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects
Mustafa Dağdelen,
Mehmet İlteriş Sarigeçili,
Necdet Sinan Özbek
Abstract:In this study, an intelligent adaptive interaction torque control for a pneumatically actuated forearm rehabilitation robot has been proposed. The main objective is to provide a haptic environment that ensures stable interaction torque fields at changing levels. To achieve this goal, a cascade fuzzy adaptive controller, that is specifically tailored to handle varying levels of interaction torque and ensure stability throughout the rehabilitation process, has been designed. To improve the efficiency of the cont… Show more
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