Robust control of a cable-driven rehabilitation robot for lower and upper limbs

Seyfi, Niloufar Sadat; Khalaji, Ali Keymasi

doi:10.1016/j.isatra.2021.07.016

Cited by 15 publications

(6 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Redundant manipulators can take advantage of the extra DOFs to keep their joints in the allowed intervals and away from singular areas of the end-effector, namely the main task. For redundancy resolution, a cost function is considered, which is based on minimization [25].…”

Section: Joint Limit Avoidancementioning

confidence: 99%

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Seyfi

Khalaji

2022

Robotica

Self Cite

View full text Add to dashboard Cite

This research presents an upper limb cable-driven rehabilitating robot with one degree of redundancy to improve the movements of the injured. A spatial trajectory is planned through the joint limit avoidance approach to apply the limits of the joint angles, which is a new method for trajectory planning of joints with an allowed definite interval. Firstly, a Lyapunov-based control is applied to the robot with taking uncertainty and disturbances into consideration. To derive the best responses of the system with considering uncertainty and disturbances, a novel robust tracking controller, namely a computed-torque-like with independent-joint compensation, is introduced. The mentioned new robust controller has not been applied to any cable robot which is the novelty of this paper to derive a superior output and the robustness of the given approach. Stability analysis of both controllers is demonstrated and the outputs of the controllers are compared for an exact three-dimensional motion planning and desirable cable forces. Eventually, the proposed novel controller revealed a better function in the presence of uncertainties and disturbances with about 28.21% improvement in tracking errors and 69.22% improvement in the required cable forces as control inputs, which is a considerable figure.

show abstract

Section: Joint Limit Avoidancementioning

confidence: 99%

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Seyfi

Khalaji

2022

Robotica

Self Cite

View full text Add to dashboard Cite

show abstract

“…The upper limb exoskeleton rehabilitation robot organically integrates robotics, ergonomics, informatics, cybernetics, medicine, and other disciplines. [1][2][3] It can effectively replace the artificial assisted rehabilitation, realize the partial functional compensation for upper limb, and complete various types of rehabilitation training for each joint of the upper limb. It has become the research hot spot in the robot field.…”

Section: Introductionmentioning

confidence: 99%

Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

Zheng

Zhang

2023

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

The upper limb exoskeleton rehabilitation robot can realize the partial functional compensation of upper limb and complete the various types of rehabilitation training for each joint of upper limb. However, the existing upper limb exoskeleton rehabilitation robots are lack of flexible reconfigurability, which are difficult to meet the diversified patient objects and rehabilitation needs, and have some problems, such as insufficient motion compliance, poor portability, and wearing comfort. To effectively solve the above problems and improve the effect of upper limb rehabilitation training, this project plans to carry out the following research: Firstly, analyze the structural characteristic and movement mechanism of upper limb, clarify the configuration theory of the modular flexible upper limb exoskeleton rehabilitation robot with reconfigurable, and design and optimize the mechanism form and structural parameters of the reconfigurable modular flexible upper limb exoskeleton rehabilitation robot. Secondly, based on the perspective of rigid–flexible coupling integration of bone–muscle–robot, the integrated equivalent mechanism model is constructed and the integrated dynamics model is established to plan compliance motion and develop intelligent compliance control strategy. Finally, the simulation experimental platform is built for simulation experimental demonstration of upper limb rehabilitation training. The implementation of this study will provide new idea and method for realizing the effect of flexible, compliance, light, and comfortable of upper limb rehabilitation training.

show abstract

“…An outer loop of the controller consisted of a velocity controller, and an inner loop consisted of a torque controller. Seyfi and Keymasi Khalaji 27 presented a CTC strategy along with a variable structure type compensator to control a redundant cable-driven robot motion. The obtained results were compared with a conventional CTC.…”

Section: Introductionmentioning

confidence: 99%

Torque control of a wheeled humanoid robot with dual redundant arms

Sulaiman,

Sudheer,

Magid

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

Most of conventional controllers are prone to consume more computational time for controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid robot using a model-based controller with less computational load and energy consumption is presented in this article. The upper body of the humanoid robot consists of two 6 degrees of freedom redundant arms, a three degrees of freedom torso and a two degrees of freedom neck. The nonholonomic mobile platform consists of two actuated wheels and two caster wheels. Nonlinearity of the robot dynamic model and coupling between various branches of the upper body are taken into account. The dynamic model derived using Newton–Euler approach along with decoupled Natural Orthogonal Complement matrix approach is used to derive dynamic equations of the upper body and the wheeled platform. Zero moment point based stability approach is used for verifying stable motion of the wheeled humanoid robot with minimum energy and time consumption to complete a task. The proposed computed torque controller is compared with other similar controllers developed for the same robot model to prove advantages of the proposed torque controller. Simulation results are experimentally validated with the real robot.

show abstract

Robust control of a cable-driven rehabilitation robot for lower and upper limbs

Cited by 15 publications

References 8 publications

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Robust Lyapunov-based motion control of a redundant upper limb cable-driven rehabilitation robot

Research on configuration design and intelligent compliance control of reconfigurable modular flexible upper limb rehabilitation robot

Torque control of a wheeled humanoid robot with dual redundant arms

Contact Info

Product

Resources

About