Admittance control of a 3-DOF cable-driven rehabilitation robot for upper-limb in three dimensional workspace

Yang, Qianqian; Niu, Jie; Song, Rong

doi:10.1109/icarm.2017.8273204

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…The speed of the end-effector can be adjusted by the admittance controller [37]. Yang Q. et al designed an admittance controller for the cable-driven upper limb rehabilitation robot, which can modify the desired trajectory according to the interaction force between the patient and the end-effector [38]. The above control strategies can achieve different degrees of training effects.…”

Section: Dofs Lle (Lower Limb Exoskeletonmentioning

confidence: 99%

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

Wang

et al. 2021

IEEE Access

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The passive training with fixed trajectory is more suitable for the initial rehabilitation training of patients with no muscle strength in the affected limb. In order to meet the needs of patients' rehabilitation training in different rehabilitation stages and improve the active participation and rehabilitation training effect of patients, a fuzzy sliding mode variable admittance (FSMVA) controller based on safety evaluation and supervision is proposed for the cable-driven lower limb rehabilitation robot (CDLR) in this paper. The FSMVA controller consists of an inner loop fuzzy sliding mode controller, an outer loop variable admittance controller, and a safety evaluation and supervision module. Through the safety evaluation index of the CDLR system and the comprehensive evaluation of patients' rehabilitation effect given by rehabilitation physiotherapists, a real-time adjustment algorithm of variable admittance controller parameters is designed, which can realize the real-time switching of training modes and adjustment of variable admittance controller parameters in active training mode and passive training mode. The trajectory tracking experiments with no admittance, fixed admittance, and variable admittance based on safety evaluation and supervision were carried out on the experimental platform. The experimental results show that the proposed FSMVA control strategy has high position control accuracy in the active training mode. In addition, the training intensity and the active participation of patients can be increased according to the patient's exercise ability. In the passive training mode, according to the training needs of patients, the amount of the trajectory adjustment can be increased to improve the comfort of the training process and the safety of patients. It lays a foundation for the further study of the evaluation system of the rehabilitation training process and the experiment of human-machine interaction compliance.

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Section: Dofs Lle (Lower Limb Exoskeletonmentioning

confidence: 99%

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

Wang

et al. 2021

IEEE Access

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“…A new torque-field controller was applied to a cable-driven wrist rehabilitation system to provide motion training [15]. In another research, an admittance control was used for an upper limb cable-driven rehabilitating system with three DOFs in three-dimensional (3D) motion to track the desirable trajectory without any reference trajectory [16]. A neurological rehabilitation device was presented to provide patients to perform different motions using an impedance-based control [17].…”

Section: Introductionmentioning

confidence: 99%

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

Seyfi

Khalaji

2022

Robotica

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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.

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Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment

Jung

2020

2020 20th International Conference on Control, Automation and Systems (ICCAS)

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Admittance control of a 3-DOF cable-driven rehabilitation robot for upper-limb in three dimensional workspace

Cited by 3 publications

References 9 publications

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot

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

Admittance Force Tracking Control for Position-Controlled Robot Manipulators Under Unknown Environment

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