Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals

Li, Zhijun; Huang, Zhicong; He, Wei; Su, Chun-Yi

doi:10.1109/tie.2016.2538741

Cited by 266 publications

(130 citation statements)

References 32 publications

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“…Christensen and Bai [119] proposed a novel shoulder mechanism where a double parallelogram linkage is used to overcome the effect of shoulder ICR motion [50] used a instantaneous centre of rotation mechanism with two passive DOF to produce complex shoulder movement. In recent past, Li et al [75] proposed a number of synthesis methods of self adapting upper-limb rehabilitation exoskeletons.…”

Section: Past Workmentioning

confidence: 99%

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

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Section: Past Workmentioning

confidence: 99%

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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“…In particular, SMAs and PAMs are considered to have good power-weight performance, lead to weight reductions and simplification of the devices, and bring together features of actuation and compliance. Regarding compliance, electric motor-actuated devices can have pseudo-compliance by using control techniques with impedance control [20,21]. However, time delays occur to varying degrees.…”

Section: Introductionmentioning

confidence: 99%

Investigating the Effect of a Mechanism Combined with a Speed-Increasing Gear and a Pneumatic Artificial Muscle

Sekine

Kokubun

2018

Actuators

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Abstract:The lightness and softness of pneumatic artificial muscles (PAMs) contribute to their safe use in mechanical devices involved with humans. However, a PAM has limited range of motion (ROM) and a stroke-dependent output force. In this paper, a mechanism combined with a PAM and a speed-increasing gear was developed to improve the tradeoff relationship between the ROM and output force and to verify its benefits in order to enhance the convenience of using PAMs. The gear enhanced the ROM and back-drivability of the PAM, which is beneficial for device safety in daily use. We first designed a mechanism consisting of an antagonistic system-driven PAM and the gear, and then simulated the relationship between the ROM and output force of the mechanism. The effectiveness of the mechanism including the gear was compared with a non-gear mechanism with multiple PAMs. We prototyped the PAM mechanism with and without the gear, and their ROMs, impact absorption, and viscoelasticity were experimentally investigated. Results showed that the gear effectively improved both ROM and output torque below a certain load; moreover, the gear ratio and air pressure had large effects on the external static and dynamic forces, respectively. We confirmed comprehensively the effect and feasibility of the mechanism.

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“…For example, robotic system, marine system and other nonlinear system [17][18][19][20][21][22][23][24][25][26][27][28][29][30]. In [31], the authors addressed the problem of control design for strict-feedback systems with constraints on the states via neural network.…”

Section: Introductionmentioning

confidence: 99%

“…The authors investigated a novel method to solve the mutual synchronization control problem of multiple robot manipulators in the case that the desired trajectory is only available to a portion of the team members, and the dynamics and the external disturbances of the manipulators are unknown in [36]. The representative works on mobile manipulators are [37][38][39][40][41]. In these papers [37][38][39]41], some elegant techniques for mobile manipulators, such as operation space transformation, hybrid force/motion, symmetrical and asymmetrical coordination, can be employed to give rise to the performance of mobile manipulators, evenly other robots, which were significant improvement in robotic applications.…”

Section: Introductionmentioning

confidence: 99%

“…The representative works on mobile manipulators are [37][38][39][40][41]. In these papers [37][38][39]41], some elegant techniques for mobile manipulators, such as operation space transformation, hybrid force/motion, symmetrical and asymmetrical coordination, can be employed to give rise to the performance of mobile manipulators, evenly other robots, which were significant improvement in robotic applications. In addition, fuzzy logic control [42][43][44][45][46][47][48][49][50][51][52][53] is also widely used for the nonlinear systems and their applications with uncertainties.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment

Zhao

et al. 2016

J Intell Robot Syst

Self Cite

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In this paper, we consider the control problem of tracking a 3D spatial trajectory for a fully actuated helicopter in static known environment, which is predefined to avoid obstacles and collisions considering the distance, fuel consumption and other related constraints. For this purpose, a nonlinear controller using the radial basis function neural network (RBFNN) is designed. Based on Lyapunov analysis, the proposed adaptive neural network control succeeds in tracking the desired trajectory robustly to a small neighborhood of zero, and guarantees the boundedness of all the closed-loop signals at the same time.Extensive numerical results are given to illustrate the effectiveness of the designed controller.

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Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals

Cited by 266 publications

References 32 publications

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

Investigating the Effect of a Mechanism Combined with a Speed-Increasing Gear and a Pneumatic Artificial Muscle

Spatial Trajectory Tracking Control of a Fully Actuated Helicopter in Known Static Environment

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