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Chang, Pyung Hun; Park, Hyung Soon

doi:10.1023/a:1024449018826

Cited by 30 publications

(3 citation statements)

References 13 publications

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“…In Reference 28 dual terminal sliding mode TDE based control has been employed to maintain robust performance and simplicity in implementation, and LMI approach has been used to prove the TDE boundedness. In application aspect, TDE based control schemes have been successfully implemented in different applications such as force control, 10 impedance control, 29 and in control of the rehabilitation robots 30 . However, despite the advantages of the TDE based control algorithms, these algorithms need some information about robot dynamics.…”

Section: Introductionmentioning

confidence: 99%

A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach

Taefi,

Khosravi

2024

Intl J Robust & Nonlinear

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SummaryThis paper addresses a new robust control scheme for tracking control of the robot manipulators. This algorithm employs time delay estimation (TDE) technique in combination with backstepping control strategy. The suggested control scheme has no dependency on the robot dynamic model and knowing the bound of the inertia matrix is enough to develop this controller. To develop the idea, at first the boundedness of the TDE errors is analyzed by Lyapunov‐Krasovskii approach. Next, the proposed TDE based adaptive backstepping nonsingular terminal sliding mode control (ABNTSMC) algorithm is developed. In this way, a novel adaptive‐robust term is employed to defeat the chattering phenomenon. Moreover, the closed‐loop stability of the system is proven through Lyapunov second approach. Fast transient response, supreme robustness, and chattering‐free as the premier specifications are gained employing the proposed control algorithm. The efficiency of the suggested control scheme is illustrated through some simulations on an industrial robot and the results are compared with some other control algorithms. Finally, the practical effectiveness of the proposed TDE based control algorithm is verified through some experiments on a parallelogram robot manipulator.

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Section: Introductionmentioning

confidence: 99%

A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach

Taefi,

Khosravi

2024

Intl J Robust & Nonlinear

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“…One way to increase independence is to allow for usage of assistive robotics (AR) in solving activities of daily living (ADL) [6]- [8]. Most of the activities that can be solved using AR are performed within the personal space, such as daily hygiene, scratching, eating, and drinking, but some require remote performances, such as picking up objects that are out of reach, turning switches on/off and opening/closing doors [7]. Allowing for remote performances, increases the independence of the user (compared to only allowing performance within the personal space), and allows the user to be self-sufficient even when lying in bed.…”

Section: Introductionmentioning

confidence: 99%

A Novel Tongue-based Remote Control and the Implication of Adaptive Semi-automation, Fixed Semi-Automation and Manual Control of a Wheelchair mounted Assistive Robotic Manipulator

Pálsdóttir,

Leck Kæseler,

Bengtson

et al. 2023

Preprint

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<p>Increasing the independence of individuals with tetraplegia is a challenging task. One potential solution is to allow for use of assistive robotics, specifically an assistive robotic manipulator (ARM), when solving varying tasks in personal and remote space. Allowing for remote performances has a positive influence on the independence of the user, allowing the user to be self-sufficient even when lying in bed. The control interfaces that are suitable for severely disabled individuals is lacking. The aim of this paper is twofold: to allow for remote tongue-based control of an ARM and second, to compare the effect of semi-automation on the control of a robotic ARM. Ten able-bodied individuals participated in a two-day experiment where they were asked to drive a wheelchair mounted ARM away from the participant and out of sight. Thereafter, they should either pick up a strawberry or a bottle from a table. All the participants successfully finished three trials for three different control methods: 1) manual control (MA), 2) adaptive level semi-automation (SA), and 3) fixed level semi-automation (FA). When grasping the strawberry, there was a significant decrease in the gripping time and number of used commands when using FA compared to MA. When grasping the bottle, the SA showed a significant reduction in gripping time and number of used commands compared with MA. This paper is a step in the direction of providing severely paralyzed individuals with a way to increase their independence and overall quality of life.</p>

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“…Assistive technologies should ideally improve a person's ability to perform manual tasks in a more sustainable and efficient way and facilitate the accomplishment of various activities 25 . To respond more adequately to the users' needs, robotic assistive devices that allow picking up and manipulating objects have been developed over the past 20 years 26–31 . Wheelchair-mounted robotic arms such as the JACO robotic arm (Kinova Robotics, Boisbriand, Quebec, Canada) or the iARM (Exact Dynamics, Arnhem, the Netherlands) are particularly promising tools as they can potentially help users in a very large number of life habits.…”

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confidence: 99%

Impacts of a Robotic Arm on People with Upper-Limb Disabilities Due to Neuromuscular Disorder

et al. 2021

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Introduction:Research is still limited on the impacts of robotic arms in improving independent living and social participation of individuals with upper-limb disabilities, and several knowledge gaps remain. This study aims to investigate the impacts of the JACO robotic arm on individuals with upper-limb impairments due to a neuromuscular disease. Methods: For this prospective study, participants used the robotic arm in their daily life for a 2-month period. The effectiveness of the robotic arm was objectively observed during activities performed in a controlled environment. The perception of the users and of their main family caregivers was also documented. Finally, the nature and importance of activities carried out with the robotic arm in a community-living environment were explored. Results: Participants' abilities with the JACO robotic arm improved continuously during the trial duration. Participants actively took part in more life habits, perceived fewer difficulties, and were more satisfied with their social participation. Despite these findings, very few life habits could be performed completely independently, limiting the impacts on global caregivers' burden. Conclusions: Even if participants encountered some difficulties, this study demonstrates short-term benefits of the robotic arm for individuals with upper-limb impairments due to a neuromuscular disorder. Future studies should mainly focus on the psychosocial, economic, and occupational long-term impacts of the robotic arm. The development of services to assist the integration of such devices in people's lives could optimize their impacts. Clinical Relevance: The results of this study contribute to the body of knowledge of clinicians for the prescription of a robotic arm. (

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Cited by 30 publications

References 13 publications

A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach

A model free adaptive‐robust design for control of robot manipulators: Time delay estimation approach

A Novel Tongue-based Remote Control and the Implication of Adaptive Semi-automation, Fixed Semi-Automation and Manual Control of a Wheelchair mounted Assistive Robotic Manipulator

Impacts of a Robotic Arm on People with Upper-Limb Disabilities Due to Neuromuscular Disorder

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