Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

Jin, Tian; Yuan, Liang; Xiao, Wendong; Ran, Teng; Zhang, Jianbo; He, Li

doi:10.1007/s11071-022-07272-2

Cited by 10 publications

(8 citation statements)

References 42 publications

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“…Furthermore, the D-H parameters used in this study have similarities to constrained control methods for predicting and evaluating joint angles [ 45 ]. The complex motion pattern of human joints involves the interaction of muscles, bone structures, and tendons, which are all interrelated.…”

Section: Discussionmentioning

confidence: 99%

Inertial Measuring System to Evaluate Gait Parameters and Dynamic Alignments for Lower-Limb Amputation Subjects

Han,

Cai,

Pan

2024

Sensors

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The study aims to construct an inertial measuring system for the application of amputee subjects wearing a prosthesis. A new computation scheme to process inertial data by installing seven wireless inertial sensors on the lower limbs was implemented and validated by comparing it with an optical motion capture system. We applied this system to amputees to verify its performance for gait analysis. The gait parameters are evaluated to objectively assess the amputees’ prosthesis-wearing status. The Madgwick algorithm was used in the study to correct the angular velocity deviation using acceleration data and convert it to quaternion. Further, the zero-velocity update method was applied to reconstruct patients’ walking trajectories. The combination of computed walking trajectory with pelvic and lower limb joint motion enables sketching the details of motion via a stickman that helps visualize and animate the walk and gait of a test subject. Five participants with above-knee (n = 2) and below-knee (n = 3) amputations were recruited for gait analysis. Kinematic parameters were evaluated during a walking test to assess joint alignment and overall gait characteristics. Our findings support the feasibility of employing simple algorithms to achieve accurate and precise joint angle estimation and gait parameters based on wireless inertial sensor data.

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Section: Discussionmentioning

confidence: 99%

Inertial Measuring System to Evaluate Gait Parameters and Dynamic Alignments for Lower-Limb Amputation Subjects

Han,

Cai,

Pan

2024

Sensors

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“…The constraint in equation (11) is continuous and A(q,t) can be rank-deficient or full rank (Tian et al, 2022a).…”

Section: Preliminary Of U-k Theorymentioning

confidence: 99%

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

Xiao

Wang

Jin

et al. 2023

Journal of Vibration and Control

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The main objective of this paper is to handle the trajectory tracking control for a class of three-wheel mobile robot by using a novel adaptive robust control. The mobile robot consists of nonholonomic constraints and uncertainties. The uncertainties include initial condition offset, mass, and moment of inertia of the system, which are time-varying and bounded (unknown). The control force in analytical form is obtained by UK theory, and the adaptive robust control is formulated to handle the uncertainties. For estimating the unknown bounds of uncertainties, the leakage-type adaptive law is designed, which can automatically adjust its own value according to the trajectory tracking errors. Then we verify the uniform boundedness and uniform ultimate boundedness of the proposed control by Lyapunov method. Finally, numerical simulations are conducted to show the trajectory tracking effectiveness of the designed control method.

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“…Over the past decade, as we know, control research on rigid robotic manipulators has garnered growing attention [1][2][3][4]. With the demands on robotic manipulators in industries, healthcare, and daily life, Physical Human-Robot Collaboration (PHRC) techniques have been attracting attentions of research scholars [5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances

Zhang,

Chen,

Zhang

2024

Preprint

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This paper focuses on achieving rapid convergence in finite time for robust trajectory tracking of robotic manipulators, which upper-bound uncertainties are unknown. To address the issues of excessive control torque and control reversal at the initial stage, a novel Robust Adaptive Fast Terminal Sliding Mode Control (RAF-TSMC) method is developed. The proposed method provides faster transient response, higher steady-state tracking accuracy, and can eliminate singularities and mitigate chattering effects. To enhance the physical collaboration in human-robot interactions, a novel Nonlinear Admittance Control method with RAF-TSMC is proposed, which benefits from adaptive compliance characteristics of Nonlinear Admittance Control with RAF-TSMC. This improves suppleness and flexibility of human-robot interaction in uncertain environments. Finally, the proposed controller is validated using a two-link robotic manipulator subjected to uncertainty and external forces. The results demonstrate that the proposed RAF-TSMC controller can effectively minimize tracking errors and convergence time, and the proposed Nonlinear Admittance Control with RAF-TSMC can enhances the flexibility and adaptability of the robot system.

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Constrained control methods for lower extremity rehabilitation exoskeleton robot considering unknown perturbations

Cited by 10 publications

References 42 publications

Inertial Measuring System to Evaluate Gait Parameters and Dynamic Alignments for Lower-Limb Amputation Subjects

Inertial Measuring System to Evaluate Gait Parameters and Dynamic Alignments for Lower-Limb Amputation Subjects

A novel adaptive robust control for trajectory tracking of mobile robot with uncertainties

Robust Adaptive Nonlinear Admittance Control of Robotic Manipulators with Extra-Intra Uncertainties and Disturbances

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