MIMO Actuator Force Control of a Parallel Robot for Ankle Rehabilitation

McDaid, Andrew; Tsoi, Y. H.; Xie, Shane

doi:10.1002/9781118577516.ch8

Cited by 4 publications

(4 citation statements)

References 30 publications

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“…It is also suggested by [17] that the objective function in form would have a strong ties to robust loop-shaping. Thus, in this paper, the basic IFT objective criterion is designed as (6). To further enhance the robustness from design objective aspect, a normalised IFT design criterion is proposed to eliminate the trial and error process for weighting factor selection.…”

Section: Convergence and Robustness Aspectsmentioning

confidence: 99%

“…A parallel ankle robot ARBOT was also designed by Saglia et al [5]. However, the existing platform-based robots are usually actuated from the bottom and one major shortcoming is that their end-effectors are typically constrained about a centre of rotation which does not coincide with the actual human ankle joint [6]. Thereby the shank's position will not be consistent during the operation, and the orientation of the robotic platform is thus unlikely to be the same as the actual rotation of ankle joint.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Meng

Xie

Quan

et al. 2017

IEEE/ASME Trans. Mechatron.

108

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Abstract-Robot-assisted rehabilitation offers benefits such as repetitive, intensive and task specific training as compared to traditional manual manipulation performed by physiotherapists. In this paper, a robust iterative feedback tuning (IFT) technique for repetitive training control of a compliant parallel ankle rehabilitation robot is presented. The robot employs four parallel intrinsically compliant pneumatic muscle actuators that mimic skeletal muscles for ankle's motion training. A multiple degreesof-freedom normalised IFT technique is proposed to increase the controller robustness by obtaining an optimal value for the weighting factor and offering a method with learning capacity to achieve an optimum of the controller parameters. Experiments with human participants were conducted to investigate the robustness as well as to validate the performance of the proposed IFT technique. Results show that the normalised IFT scheme will achieve a better and better tracking performance during the robot repetitive control and provides more robustness to the system by adapting to various situations in robotic rehabilitation.

show abstract

Section: Convergence and Robustness Aspectsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Meng

Xie

Quan

et al. 2017

IEEE/ASME Trans. Mechatron.

108

View full text Add to dashboard Cite

show abstract

“…This study validated that RLT imposes significant constraints along with asymmetries in lower limb kinematics and muscle activity patterns. McDaid et al [148] presented a multi-input multi-output (MIOM) force controller for ankle rehabilitation. This MIMO actuator force controller was designed in such a way that the gains along the decoupled directions could be pushed closer to their corresponding gain margins.…”

Section: Gait Monitoring and Assistive Technologiesmentioning

confidence: 99%

Sensing and actuation technologies for smart socket prostheses

Gupta

Loh

Pedtke³

2019

Biomed. Eng. Lett.

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The socket is the most critical part of every lower-limb prosthetic system, since it serves as the interfacial component that connects the residual limb with the artificial system. However, many amputees abandon their socket prostheses due to the high-level of discomfort caused by the poor interaction between the socket and residual limb. In general, socket prosthesis performance is determined by three main factors, namely, residual limb-socket interfacial stress, volume fluctuation of the residual limb, and temperature. This review paper summarizes the various sensing and actuation solutions that have been proposed for improving socket performance and for realizing next-generation socket prostheses. The working principles of different sensors and how they have been tested or used for monitoring the socket interface are discussed. Furthermore, various actuation methods that have been proposed for actively modifying and improving the socket interface are also reviewed. Through the continued development and integration of these sensing and actuation technologies, the long-term vision is to realize smart socket prostheses. Such smart socket systems will not only function as a socket prosthesis but will also be able to sense parameters that cause amputee discomfort and self-adjust to optimize its fit, function, and performance.

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“…The Stewart platform is a closed kinematic chain mechanism with six degrees of freedom (DOFs) controlled by double-acting pneumatic cylinders. Several ankle rehabilitation systems were developed based on closedchain mechanisms, such as (Saglia et al, 2009(Saglia et al, , 2013McDaid et al, 2013;Vallés et al, 2017;Dong et al, 2021). The closed-chain mechanisms were extended to knee rehabilitation in (Rastegarpanah et al, 2016) and (Aginaga et al, 2018).…”

Section: Robotic Rehabilitation For Lower Limbmentioning

confidence: 99%

A New Index for Detecting and Avoiding Type II Singularities for the Control of Non-Redundant Parallel Robots

Zapata¹

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MIMO Actuator Force Control of a Parallel Robot for Ankle Rehabilitation

Cited by 4 publications

References 30 publications

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Robust Iterative Feedback Tuning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training

Sensing and actuation technologies for smart socket prostheses

A New Index for Detecting and Avoiding Type II Singularities for the Control of Non-Redundant Parallel Robots

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