Fuzzy Hybrid Force-Position Control for the Robotic Arm of an Upper Limb Rehabilitation Robot Powered by Pneumatic Muscles

Jiang, Xuepeng; Chen, Xiong; Sun, Ruiying; Xiong, Yan

doi:10.1109/iceee.2010.5661226

Cited by 6 publications

(1 citation statement)

References 8 publications

(6 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The main purpose of monarticular movement control was to drive the motor [4]. The torque motor was used, and the fuzzy PID was adopted [5]. The control diagram was shown as figure 4.…”

Section: The Control System Design Of the Rehabilitation Robotmentioning

confidence: 99%

Control System Design of Upper Limb Rehabilitation Robot

Qian

Shen

et al. 2013

AMM

View full text Add to dashboard Cite

In traditional iatrical method, the patients with hemiplegia were assisted mainly by medical personnel to complete rehabilitation training. To make the medical personnel work easily and improve the effect of rehabilitation training, the rehabilitation robot was adopted. And the control system of a four DOF upper limb rehabilitation robot was designed based on impedance control to assist the patients with hemiplegia to complete rehabilitation training after the kinematic and kinetic analysis was finished. Then finished the analysis, simulation, and experiment of monarticular movement and multiarticulate movement after the analyzing the algorithm to tested the control system. The control system based on impedance control of the upper limb rehabilitation robot can realize the passive training which followed the planning trajectory, and active training which followed patients’ awareness of movement.

show abstract

“…The main purpose of monarticular movement control was to drive the motor [4]. The torque motor was used, and the fuzzy PID was adopted [5]. The control diagram was shown as figure 4.…”

Section: The Control System Design Of the Rehabilitation Robotmentioning

confidence: 99%

Control System Design of Upper Limb Rehabilitation Robot

Qian

Shen

et al. 2013

AMM

View full text Add to dashboard Cite

show abstract

Fuzzy neural network control of the rehabilitation robotic arm driven by pneumatic muscles

Jiang

Wang

Zhang

et al. 2015

Industrial Robot: An International Journal

View full text Add to dashboard Cite

Purpose – The main purpose of this paper is to enhance the control performance of the robotic arm by the controller of fuzzy neural network (FNN). Design/methodology/approach – The robot system has characters of high order, time delay, time variation and serious nonlinearity. The classical PID controller cannot achieve satisfactory performance in control of such a complex system. This paper combined the fuzzy control with neural networks and established the FNN controller and applied it in control of the robot. Findings – The experimental results showed that the FNN controller had excellent performances in position control of the rehabilitation robotic arm such as fast response, small overshoot and small vibration. Research limitations/implications – This work is focused on the static FNN algorithm by updating the second and fifth layers of the membership functions. The performance can be improved further if the third layer (reasoning layer) can be updated online. Originality/value – Based on a hierarchical structure of the FNN controller, this paper designed the FNN controller and applied it in control of the rehabilitation robot driven by pneumatic muscles.

show abstract

Improving robustness of robotic grasping by fusing multi-sensor

Zhang

Song

et al. 2012

2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

View full text Add to dashboard Cite

Fuzzy Hybrid Force-Position Control for the Robotic Arm of an Upper Limb Rehabilitation Robot Powered by Pneumatic Muscles

Cited by 6 publications

References 8 publications

Control System Design of Upper Limb Rehabilitation Robot

Control System Design of Upper Limb Rehabilitation Robot

Fuzzy neural network control of the rehabilitation robotic arm driven by pneumatic muscles

Improving robustness of robotic grasping by fusing multi-sensor

Contact Info

Product

Resources

About