A pneumatic-muscle-actuator-driven knee rehabilitation device for CAM therapy

Martens, Mirco; Zawatzki, Johannes; Seel, Thomas; Boblan, Ivo

doi:10.1109/embc.2019.8856526

Cited by 3 publications

(1 citation statement)

References 10 publications

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“…[76], the development of isokinetic equipment driven by PAMs is presented for hip and knee joint recovery exercises. Another application of this type of actuator is shown in [77], in which a new knee joint rehabilitation device is tested for controlled active movement (CAM) therapy. This system is a re-design of an originally passive CAM device called CAMOped, which consists of a device with an adjustable mechanical resistance thanks to the use of torque-controlled PAMs.…”

Section: Pneumatic Artificial Musclesmentioning

confidence: 99%

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Urrea,

Agramonte

2023

Processes

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The study of lower limbs has become relevant in recent years. Lower limbs have several classifications, but the most widespread categories are robots for patient rehabilitation and robots for work tasks. Two of the main pillars in the development of exoskeletons are actuators and control strategies. Pneumatic artificial muscles are similar to human muscles in their function. This work focuses on this similarity to develop control techniques for this type of actuator. The purpose of this investigation is to design, evaluate, and compare the effectiveness of three different control systems—the proportional–integrative–derivative (PID) system, the sliding mode control (SMC) system, and the fuzzy logic controller (FLC) system—in executing precise trajectory tracking using an exoskeleton and including very realistic dynamic considerations. This study aims to design and implement these controllers and assess their performance in following three distinct trajectories, thereby determining the most efficient and reliable control method for exoskeleton motion. Additionally, the analysis centers on both the response of the controllers to external perturbations and the reaction of the controllers when the time delay inherent to their dynamic is added to the mathematical model. Finally, the results are compared, revealing through the analysis of performance indexes and time response that the FLC is the controller that exhibits the best global results in the tracking of the different trajectories. This work demonstrates that, for the system in question, the action of adding a time delay in the actuator causes the FLC and PID controllers to maintain a similar response, which is obtained without the delay action, in contrast to the system with an SMC controller. However, the same does not occur when including other dynamic factors, such as disturbances external to the system.

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Section: Pneumatic Artificial Musclesmentioning

confidence: 99%

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Urrea,

Agramonte

2023

Processes

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Influence of vertical acceleration for inducing sensation of dropping by lower limb force feedback device

Tanaka

Onozuka

Okui

et al. 2020

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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Switching Model Predictive Control for Thin McKibben Muscle Servo Actuator

et al. 2022

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Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Control (SMPC) based on a Piecewise Affine (PWA) system model to control a translational antagonistic-pair TMM servo actuator. A novel configuration enables the servo actuator to achieve a position control of 40 mm within a small footprint. The result shows that the feedback system gives minimal steady-state errors when tracking staircase and setpoint references ranging from 0 to 3.5 cm. The controller also produces better transient and steady-state responses than our previously developed Gain-scheduled Proportional–Integral–Derivative (GSPID) controller. The evidence from this study suggests that a predictive control for a TMM servo actuator is feasible.

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A pneumatic-muscle-actuator-driven knee rehabilitation device for CAM therapy

Cited by 3 publications

References 10 publications

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Improving Exoskeleton Functionality: Design and Comparative Evaluation of Control Techniques for Pneumatic Artificial Muscle Actuators in Lower Limb Rehabilitation and Work Tasks

Influence of vertical acceleration for inducing sensation of dropping by lower limb force feedback device

Switching Model Predictive Control for Thin McKibben Muscle Servo Actuator

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