Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Zhang, Chi; Hu, Jiwei; Ai, Qingsong; Meng, Wei; Liu, Quan

doi:10.1007/978-3-319-65289-4_29

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…Due to many advantages of flexibility, inherently compliant, high power-toweight ratio, low cost, ease of maintenance, cleanliness, etc. PAM-based systems are mostly used in manipulators [1,2], rehabilitation robotics [3], medical devices [4], and many others [5,6]. However, the PAM is known for its strong non-linearity and uncertainty, high hysteresis behavior, hence pose a great challenge in achieving good tracking performance.…”

Section: Introductionmentioning

confidence: 99%

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Dao¹,

Le Tri²

2022

JMechE

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In this paper, a discrete-time sliding mode control (DSMC) approach based on exponential reaching law (ERL) is developed for a pneumatic artificial muscle (PAM) system to achieve high tracking performance and chattering alleviation. The proposed controller is designed based on an exponential term that dynamically adapts to the variation of the switching function, thus guarantees finite steps convergence and chattering phenomenon reduction simultaneously. Moreover, the effectiveness of the designed controller and its stability on a dual actuator PAM-driven system is demonstrated under various conditions. In addition, a leg-gait pattern is set as trajectory tracking for further validation. Finally, experiment results show that the proposed approach is effective and promising for rehabilitation applications.

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Section: Introductionmentioning

confidence: 99%

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Dao¹,

Le Tri²

2022

JMechE

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“…Since the PAM has many above-mentioned benefits, it has been widely used in many applications [2], such as exoskeletons for rehabilitation [3], robotic orthosis [4], and manipulators [5]. Moreover, the PAM has natural compliance that makes it feasible for biomimetic robotic devices, particularly those intended for interaction with humans [6]- [8]. However, the tracking accuracy of the PAM system is limited owing to the hysteresis behavior, nonlinearity and uncertainty during its working process.…”

Section: Introductionmentioning

confidence: 99%

A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation

Ahn

2019

IEEE Access

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This paper develops a novel adaptive gain integral terminal sliding mode control with timedelay estimation to enhance the control performance of a pneumatic artificial muscle system. The main contribution of the paper is that the proposed control method can enable the benefits of both terminal sliding mode technique and an integral sliding mode approach. Thus, the controlled system not only achieves finite time convergence and robust performance but also attenuates the drawback of the reaching phase in the conventional sliding mode control approach. To develop the control algorithm, the mathematical of the pneumatic artificial muscle system is first design, which includes a nominal system and all uncertainties and disturbances in the system dynamics. Then, a backstepping terminal sliding mode is designed to achieve a finite time convergence of tracking errors in the nominal system. In addition, an integral terminal sliding mode approach is proposed to reject the uncertainties and disturbances. To enhance the control performance, a time-delay estimation is employed to approximate the nonlinearity and disturbance in the system and an adaptive gain scheme is coupled directly to estimate the ideal robust control gain, which can reduce the chattering phenomenon and increase the tracking accuracy. The stability of the controlled system is analyzed using Lyapunov theory. Moreover, the effectiveness of the proposed control algorithm is verified through a series of experimental tests on a developed pneumatic artificial muscle system.INDEX TERMS Integral terminal sliding mode control, pneumatic artificial muscle, adaptive gain scheme, time-delay estimation.

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“…Due to highly nonlinear and time varying characteristics, it is difficult to drive PAM actuators in the precise control. Therefore, Zhang and his colleagues investigate the force control of a pneumatic artificial muscle (PAM) drives ankle rehabilitation robot, incorporating a position control in inner loop and an impedance control in outer loop so as to ensure the accuracy and the satisfactory of the ankle rehabilitation (Zhang et al, 2017 ). Anh and his colleagues develop the novel adaptive neural network (ADNN) compliant force/position control to make a serial PAM robot follow arbitrary linear and circular trajectories.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive Iterative Learning Based Impedance Control for Robot-Aided Upper-Limb Passive Rehabilitation

Wang

Song

2019

Front. Robot. AI

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In this paper, an anthropomorphic arm is introduced and used to the upper-limb passive rehabilitation therapy. The anthropomorphic arm is constructed via pneumatic artificial muscles so that it may assist patients suffering upper-limb diseases to achieve mild therapeutic exercises. Due to the uncertain dynamic environment, external disturbances and model uncertainties, a combined control is proposed to stabilize and to enhance the adaptivity of the system. In the combined control, an iterative learning control is used to realize accurate position tracking. Meanwhile, an adaptive iterative learning based impedance control is proposed to execute the appropriate contact force during the therapy of the upper-limb. The advantage of the combined control is that it doesn't depend on the accurate model of systems and it may deal with highly nonlinear system which has strong coupling and redundancies. The convergence of the proposed control is analyzed in detail. Numerical simulations are performed to verify the proposed control method. In addition, real experiments are executed on the Southwest anthropomorphic arm.

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Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Cited by 6 publications

References 13 publications

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

Discrete-Time Sliding Mode Control based on Exponential Reaching Law of a Pneumatic Artificial Muscle Actuator

A Novel Adaptive Gain Integral Terminal Sliding Mode Control Scheme of a Pneumatic Artificial Muscle System With Time-Delay Estimation

An Adaptive Iterative Learning Based Impedance Control for Robot-Aided Upper-Limb Passive Rehabilitation

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