Dynamic Model of Exoskeleton Based on Pneumatic Muscle Actuators and Experiment Verification

Cao, Yu; Huang, Jian; Huang, Zhangbo; Tu, Xikai; Ru, Hongqiang; Chen, Cheng; Huo, Jun Fang

doi:10.1109/humanoids.2018.8624914

Cited by 5 publications

(2 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, in ref. [80], a PAM-based exoskeleton is developed that has an innovative design to improve user comfort during walking. To control this exoskeleton, a model-free control strategy known as proxy-based sliding mode control is proposed.…”

Section: Pneumatic Artificial Musclesmentioning

confidence: 99%

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Urrea,

Agramonte

2023

Processes

View full text Add to dashboard Cite

The study of lower limbs has become relevant in recent years. Lower limbs have several classifications, but the most widespread categories are robots for patient rehabilitation and robots for work tasks. Two of the main pillars in the development of exoskeletons are actuators and control strategies. Pneumatic artificial muscles are similar to human muscles in their function. This work focuses on this similarity to develop control techniques for this type of actuator. The purpose of this investigation is to design, evaluate, and compare the effectiveness of three different control systems—the proportional–integrative–derivative (PID) system, the sliding mode control (SMC) system, and the fuzzy logic controller (FLC) system—in executing precise trajectory tracking using an exoskeleton and including very realistic dynamic considerations. This study aims to design and implement these controllers and assess their performance in following three distinct trajectories, thereby determining the most efficient and reliable control method for exoskeleton motion. Additionally, the analysis centers on both the response of the controllers to external perturbations and the reaction of the controllers when the time delay inherent to their dynamic is added to the mathematical model. Finally, the results are compared, revealing through the analysis of performance indexes and time response that the FLC is the controller that exhibits the best global results in the tracking of the different trajectories. This work demonstrates that, for the system in question, the action of adding a time delay in the actuator causes the FLC and PID controllers to maintain a similar response, which is obtained without the delay action, in contrast to the system with an SMC controller. However, the same does not occur when including other dynamic factors, such as disturbances external to the system.

show abstract

Section: Pneumatic Artificial Musclesmentioning

confidence: 99%

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Urrea,

Agramonte

2023

Processes

View full text Add to dashboard Cite

show abstract

“…However, the integral sliding surface of SMC accumulates the trajectory errors caused by structure uncertainties, making patients uncomfortable. To deal with the structure uncertainties, chattering-free robust variable structure control law (CRVC) and Proxy-based Sliding Mode Control were proposed in [90] and [91,92]. The experimental results show that, the magnitude of angular deviations in the human-active training mode are 20°larger than passive training mode.…”

Section: A Control Of Antagonistic Jointsmentioning

confidence: 99%

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

Liu

Zuo

Zhu

et al. 2020

Future Generation Computer Systems

View full text Add to dashboard Cite

show abstract

A Predictive Control for Pneumatic Muscle Actuators based Exoskeleton by Using MIMO Echo State Network

Cao

Huang

2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

View full text Add to dashboard Cite

Dynamic Model of Exoskeleton Based on Pneumatic Muscle Actuators and Experiment Verification

Cited by 5 publications

References 20 publications

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Design and control of soft rehabilitation robots actuated by pneumatic muscles: State of the art

A Predictive Control for Pneumatic Muscle Actuators based Exoskeleton by Using MIMO Echo State Network

Contact Info

Product

Resources

About