Nonlinear time delay estimation based model reference adaptive impedance control for an upper-limb human-robot interaction

Omrani, Javad; Moghaddam, Majid M.

doi:10.1177/09544119211054919

Cited by 4 publications

(12 citation statements)

References 45 publications

(68 reference statements)

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“…[29][30][31] Compliance control, which ensures safe physical human-robot interaction, allows patients to follow trajectories with reasonable interaction forces. 32 This approach facilitates human-robot interaction during tasks, encourages active patient participation, and enhances movement safety. 33,34 To ensure safety in this study, a compliance control method was developed to provide assist-as-needed force to subjects during the robot's movements.…”

Section: Introductionmentioning

confidence: 99%

A wearable system to assist impaired-neck patients: Design and evaluation

Ghasemi,

Sadedel,

Moghaddam

2023

Proc Inst Mech Eng H

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Patients with neurological disorders, such as amyotrophic lateral sclerosis, Parkinson’s disease, and cerebral palsy, often face challenges due to head-neck immobility. The conventional treatment approach involves using a neck collar to maintain an upright head position, but this can be cumbersome and restricts head-neck movements over prolonged periods. This study introduces a wearable robot capable of providing three anatomical head motions for training and assistance. The primary contributions of this research include the design of an optimized structure and the incorporation of human-robot interaction. Based on human head motion data, our primary focus centered on developing a robot capable of accommodating a significant range of neutral head movements. To ensure safety, impedance control was employed to facilitate human-robot interaction. A human study was conducted involving 10 healthy subjects who participated in an experiment to assess the robot’s assistance capabilities. Passive and active modes were used to evaluate the robot’s effectiveness, taking into account head-neck movement error and muscle activity levels. Surface electromyography signals (sEMG) were collected from the splenius capitis muscles during the experiment. The results demonstrated that the robot covered nearly 85% of the overall range of head rotations. Importantly, using the robot during rehabilitation led to reduced muscle activation, highlighting its potential for assisting individuals with post-stroke movement impairments.

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Section: Introductionmentioning

confidence: 99%

A wearable system to assist impaired-neck patients: Design and evaluation

Ghasemi,

Sadedel,

Moghaddam

2023

Proc Inst Mech Eng H

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“…Therefore, to address such perturbations, researchers have explored the adaptive control schemes for upperand lower-extremity rehabilitation devices. [16][17][18][19][20][21][22][23][24] The literature of this work is limited to adaptive control schemes of upper-extremity devices only. Khan et al 16 exploited a passivity-based adaptive controller on an EXoRD to track the estimated Desired Motion Intention (DMI) of upper-limbs.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, all traditional control strategies seem incompetent to deal with network-induced challenges, and some modifications are required in the controller design process. 27 The previously mentioned position and hybrid control schemes [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25][26] exploit such time-triggered approach where the control signals are transmitted to the dynamics at each sample time irrespective of the actual demand. This increases transmission costs with ineffective resource allocation and may be impractical in scenarios with limited communication bandwidth or high-latency connections.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, the problem of limited communication in the framework of admittance control has not been addressed explicitily. [16][17][18][19][20] On the other hand, although there has been a few works on event-triggered control for rehabilitation robots [32,33,37], most of them have focused on lower extremity exercises. Therefore, for the first time, the ETAB admittance approach is proposed for the robot-assisted upper limb rehabilitation problem under the dynamic uncertainties, limited communications and interaction between subject and robot.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, for the first time, the ETAB admittance approach is proposed for the robot-assisted upper limb rehabilitation problem under the dynamic uncertainties, limited communications and interaction between subject and robot. Thirdly, compared to the adaptive sub-optimal control 20 or the adaptive super-twisting sliding mode, 21 this work proposes an adaptive backstepping control in the inner loop which involves a systematic design approach to implicitly construct the Lyapunov candidate function for non-linear systems rather than finding the same based on heuristic methods. Moreover, it does not require the input-output dynamics to be linear compared to most adaptive control approaches.…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered adaptive control for upper-extremity therapeutic robot in active-assist mode: A simulation study

Abbas,

Narayan,

Dwivedy

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Upper extremity rehabilitation exercises are essential for individuals recovering from injuries or conditions that affect their arm and hand functionality. Robot-assisted therapy has gained popularity as it offers precise control, objective assessment, and customizable treatment programs. However, several challenges persist, including uncertainties in the patient’s and robot dynamics, limited communication, and the need to maintain a compliant patient-robot interaction. Therefore, an event-triggered adaptive backstepping (ETAB) admittance control strategy is proposed in this work to address these challenges. Initially, the framework of the robot-assisted therapeutic process is briefly explained. The architecture of the proposed control strategy is formulated with two control modules. Thereafter, the adaptive backstepping technique is employed with an online adaptation law to deal with dynamic uncertainties. Moreover, the problem of limited communication is handled using the proposed design of a Lyapunov-based event-triggered mechanism. The admittance controller is integrated to maintain a compliant patient-robot interaction and consider the participation of the patient in the therapeutic sessions. The effectiveness of the proposed control strategy is verified using an end-effector type rehabilitation robot performing two different rehabilitation exercises. Furthermore, a comparative performance analysis is carried out with the proportional-integral-derivative controller (PID) and the adaptive sliding mode controller (ASMC). Based on the simulation runs, the proposed controller has shown promising tracking behavior, appropriate compliant interaction, and considerable reduction in the transmitted signals during the passive and active-assist training exercises.

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Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

Kong

Huang

2023

Actuators

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Impedance control is a classic and straightforward control method that finds wide applications in various fields. However, traditional constant impedance control requires prior knowledge of the environment’s stiffness and position information. If the environmental information is unknown, constant impedance control is not capable of handling the task. To address this, this paper proposes a variable universe fuzzy model reference adaptive impedance control method that achieves effective force tracking even in the presence of unknown environmental information. A variable universe fuzzy controller was employed to determine the impedance parameters. The force tracking error and its rate of change were used as two input parameters for the variable universe fuzzy controller, which utilizes fuzzy inference to obtain the incremental values of the impedance parameters. For the introduced model reference controller, a novel adaptive law was employed to obtain the coefficients for contact force and torque. Subsequently, the contact force of the manipulator in Cartesian space was taken as the research object, and a simulation model of a six-joint manipulator was established in MATLAB/Simulink. By comparing it with the constant impedance control method, the feasibility and effectiveness of this control approach were validated.

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Nonlinear time delay estimation based model reference adaptive impedance control for an upper-limb human-robot interaction

Cited by 4 publications

References 45 publications

A wearable system to assist impaired-neck patients: Design and evaluation

A wearable system to assist impaired-neck patients: Design and evaluation

Event-triggered adaptive control for upper-extremity therapeutic robot in active-assist mode: A simulation study

Impedance Force Control of Manipulator Based on Variable Universe Fuzzy Control

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