PID control for the robotic exoskeleton: Application to lower extremity rehabilitation

Liang, Guangye; Ye, Wenjun; Xie, Qing

doi:10.1109/icma.2012.6285711

Cited by 6 publications

(5 citation statements)

References 46 publications

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“…l BF = L uc − ∆l uc (7) In the equations, L uc is the length of the pneumatic muscle on the contracting side and ∆l uc is the contraction of the pneumatic muscle on the contracting side.…”

Section: Kinematic Modelmentioning

confidence: 99%

“…Ref. [7] investigates the PID control of exoskeleton robot arm used for robot-assisted rehabilitation with its embedded harmonic drive transmission (HDT) and Elmo driver. The research of rehabilitation robots can improve the living conditions of the elderly, patients with cerebrovascular diseases, and athletes, reduce the burden of rehabilitation doctors, and make great contributions to medical rehabilitation in China.…”

Section: Introductionmentioning

confidence: 99%

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Design and Passive Training Control of Elbow Rehabilitation Robot

Cui

Wang

Han³

et al. 2021

Electronics

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In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the rehabilitation robot motion model and a system elbow joint model. The passive training mode of rehabilitation robots were researched, and active disturbance rejection control (ADRC) leveraged to improve the tracking angle of robot joints. In the no-load motion simulation of rehabilitation robots, disturbances are added to the control variables to complete the ADRC and Proportional Integral Differential (PID) position control simulation. The simulation results indicate that the auto disturbance rejection control can quickly keep up the expected signal without overshoot, solve the contradiction between the system rapidity and overshoot. Moreover, it can better suppress the interference even if the external load changes. The upper limbs of the human body are used as the load on the robot body to complete the simulation of ADRC and PID position control objects of different weights. Finally, a passive rehabilitation training experiment was conducted to verify the safety of the rehabilitation robot, the rationality, comfort, and robustness of the mechanism design, and the effectiveness and feasibility of the ADRC.

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Section: Kinematic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Passive Training Control of Elbow Rehabilitation Robot

Cui

Wang

Han³

et al. 2021

Electronics

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show abstract

“…To compensate the human operator's torques and support the human movement, the feedback hybrid control is proposed as follows [18], [19], [20]:…”

Section: Fig 2 Block Diagram Of Feedback Hybrid Interaction Force And...mentioning

confidence: 99%

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

Nguyen,

Parnichkun

et al. 2023

Robot. syst., appl.

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In the paper, a feedback hybrid control including a force feedback control and a position control is proposed to control a four degree of freedom (4-dof) upper limb exoskeleton for supporting human movement at the shoulder, elbow and wrist joints. The novelty of the paper is that it has been able to control all the interaction forces at all links in the exoskeleton robot by using the proposed control. The desired interaction forces at the links and desired position are compared with the measured interaction forces and position, respectively. Then the torque at the shoulder, the torque elbow and the torque wrist joints are controlled to compensate the force error and the position error. The gains of the proposed controller are optimized by using the Balancing Composite Motion Optimization (BCMO). The simulation and control of the 4-dof upper limb exoskeleton using the proposed control is carried out in the paper to show that the interaction forces and the position of the exoskeleton track their desired values.

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“…Experiment results guarantee that a model-free PID controller can be most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. It is worth mentioning that several researchers have carried out simulation studies and experiments with the PID controller for maneuvering exoskeleton robots for rehabilitation of human upper or lower limbs [ 40 , 41 , 42 , 43 ]. However, to the authors’ knowledge, none of the prior work thoroughly investigated the effectiveness of a well-established conventional PID controller to provide robot-aided rehabilitation to human subjects’ varying conditions from the controller performance perspective.…”

Section: Introductionmentioning

confidence: 99%

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

Ahmed

Islam

Brahmi

et al. 2022

Sensors

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Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designed for adults and has an extended range of motion compared to our previously designed ETS-MARSE robot. While providing rehabilitation therapy, the exoskeleton robot is always subject to random disturbance. Moreover, these types of robots manage various patients and different degrees of impairment, which are quite impossible to model and incorporate into the robot dynamics. We hypothesize that a model-independent controller, such as a PID controller, is most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. This research implemented a model-free proportional–integral–derivative (PID) controller to maneuver a complex 7 DoF anthropomorphic exoskeleton robot (i.e., SREx) to provide a wide variety of upper limb exercises to the different subjects. The robustness and trajectory tracking performance of the PID controller was evaluated with experiments. The results show that a PID controller can effectively control a highly nonlinear and complex exoskeleton-type robot.

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PID control for the robotic exoskeleton: Application to lower extremity rehabilitation

Cited by 6 publications

References 46 publications

Design and Passive Training Control of Elbow Rehabilitation Robot

Design and Passive Training Control of Elbow Rehabilitation Robot

Feedback hybrid force and position control of an upper limb exoskeleton to support human movement

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

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