Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device

Yellewa, Mwayi E; Mohamed, Abdelfatah M.; Ishii, Hiroyuki; Assal, Samy F. M.

doi:10.1109/iecon49645.2022.9968839

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…The action of controllers is majorly specified based on type of therapeutic exercises such as passive, active assistive, isometric and isotonic. 6,7 In passive exercises, the user does not (or cannot) move the robot links actively. Instead, the robot moves the corresponding limb by applying only position control with specified range of motion, operating speed and number of repetition.…”

Section: Introductionmentioning

confidence: 99%

“…Some sort of studies, have been conducted which utilize SEAs in rehabilitation robot applications. 7,26 These modified actuators enable the robot to suit changing interaction forces/torques by protecting the user/environment with the help of elasticity of the utilized spring. The SEA may be a good solution for compliant and precise trajectory performance compared to the counterparts, however designing a low weight SEA is quite hard and selection of spring stiffness is a complicated task.…”

Section: Introductionmentioning

confidence: 99%

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A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

Dağdelen,

Sarigeçili,

Özbek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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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 controller, non-linear friction torque identification of the pneumatic actuator based on changing operating conditions has been conducted. Parallel to this, a user motion intention detection algorithm has been designed to provide compliant, safe and suitable human-robot interactions. The disturbance cases have been considered to make the system robust to unknown conditions. Stability analysis has been performed, specifically focusing on the boundary-input boundary-output (BIBO) stability conditions. In order to demonstrate the superior performance of the proposed cascade fuzzy adaptive algorithm, a cascade PID algorithm has also been meticulously designed for comparison. Numerous experimental validation tests involving a healthy user were conducted in a Hardware-in-the-Loop environment, focusing on torque trajectory tracking performance. The proposed control technique exhibited improved convergence dynamics compared to the cascade PID algorithm, yielding mean absolute error levels of 0.0218 Nm and 0.099 Nm for target interaction torque under disturbance-free and disturbed conditions, respectively.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

Dağdelen,

Sarigeçili,

Özbek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Considering the shortcomings mentioned in the existing wrist rehabilitation designs and extending the authors' work in Yellewa et al, 22 a compact two DOFs balanced and compliant wrist rehabilitation robotic device with serial kinematic configuration is proposed in this paper. In order to achieve compliant interaction, the device is actuated by servomotors coupled with custom designed series elastic units (SEU).…”

Section: Introductionmentioning

confidence: 99%

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Yellewa

Mohammed

Ishii

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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Over a decade, wrist rehabilitation robots have been proved to be efficient in the rehabilitation of patients with stroke or wrist injuries. Wrist rehabilitation devices compensate for deficiencies in manual rehabilitation training and reduce the workload of physiotherapists with their repetitive and gradual training necessary to rehabilitate patients with wrist impairments properly. Two design approaches have been reported in literature for wrist rehabilitation robotic devices. In one design approach, the strategy of placing the actuators, either linear or rotary, on the forearm to minimise the weight and inertia has been proposed. This necessitates a use of sophisticated transmission systems. In the other design approach, rotary motors have been proposed to be placed directly on the wrist joints, which results in a high weight and inertia. In this paper, a new 2-DOF compliant wrist rehabilitation device that can achieve the flexion-extension and radial-ulnar rehabilitation movements compliantly is proposed. In the proposed design, two series elastic actuators (SEAs), each consists of a servomotor and a custom-designed series elastic unit, are proposed to be placed directly on the wrist joints. In order to minimise the inertia and the required torques, the device is counterweight balanced by optimising the centre of mass of the device in the SolidWorks model. Based on the device dynamics modelled by ADAMS software, hybrid position and force tracking impedance control with the incorporation of a disturbance observer controller for the rotary SEA is developed for position and force tracking through the different therapeutic exercises. The disturbance observer controller is incorporated for high precision force control and robustness against exogenous disturbances. Simulation results demonstrate high performance of the proposed wrist rehabilitation device in terms of precise position and force trajectories tracking and robustness against exogenous disturbance as well as patient safety during all therapeutic exercises.

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Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist

Milazzo,

Catalano,

Bicchi

et al. 2024

The International Journal of Robotics Research

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This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements. This modulation is akin to human muscular cocontraction and is achieved using only four motors. The mechanical configuration employed results in a compact and lightweight device with anthropomorphic characteristics, making it potentially suitable for applications such as prosthetics and humanoid robotics. This design aims to enhance performance in dynamic tasks, improve task adaptability, and ensure safety during interactions with both people and objects. The paper details the first hardware implementation of the proposed design, providing insights into the theoretical model, mechanical and electronic components, as well as the control architecture. System performance is assessed using a motion capture system. The results demonstrate that the prototype offers a broad range of motion ([55, −45]° for flexion/extension, ±48° for radial/ulnar deviation, and ±180° for pronation/supination) while having the capability to triple its stiffness. Furthermore, following proper calibration, the wrist posture can be reconstructed through multivariate linear regression using rotational encoders and the forward kinematic model. This reconstruction achieves an average Root Mean Square Error of 6.6°, with an R2 value of 0.93.

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Design and Hybrid Impedance Control of a Compliant and Balanced Wrist Rehabilitation Device

Cited by 3 publications

References 13 publications

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

A cascade fuzzy adaptive based interaction torque control of a pneumatically actuated forearm rehabilitation robot under disturbance effects

Design and hybrid impedance control of a new compliant wrist rehabilitation device

Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist

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