Design and Experimental Research of Movable Cable-Driven Lower Limb Rehabilitation Robot

Zou, Yupeng; Wang, Nuo; Wang, Xinqing; Ma, Huizi; Liu, Kai

doi:10.1109/access.2018.2887233

Cited by 34 publications

(22 citation statements)

References 35 publications

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“…In order to meet the conditions of the wind-tunnel test of WDPR system and improve the robustness of the system, the HJI theory and disturbance observer are applied to the designed control law. The dynamic equation of the controlled object is considered to be Equation (13). The ideal pose is set as d X , and the tracking error, velocity error, and acceleration error are…”

Section: A Design Of the Control Lawmentioning

confidence: 99%

“…The experimental results show the controller's effectiveness in the case of inherent uncertainty in the system [12]. Based on the established dynamic model of the cable drive unit, YUPENG ZOU et al proposed a master dynamic control strategy and proved that the designed control strategy improved the loading precision and dynamic performance of the force servo system through experimental research [13]. Zane Zake et al proposed a vision-based control method for a CDPR and discussed the stability analysis of the control scheme with uncertainty in the analysis model and test device [14].…”

Section: Introductionmentioning

confidence: 97%

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Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

et al. 2020

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A sliding mode robust control law based on Hamilton-Jacobi Inequality (HJI) theory and a disturbance observer is proposed for a wire-driven parallel robot (WDPR) used in a wind-tunnel test. First, the wire-driven parallel robot is described, and its kinematics model established. Second, according to the uncertainty, external disturbance, and redundant drive of the system, the dynamic model of the end-effector and drive system, and the overall dynamic model of the system are established. Hamilton-Jacobi Inequality theory and the designed disturbance observer are applied to the designed sliding mode robust control law, and the anti-interference ability of the WDPR is verified. The stability of the closed-loop system is analyzed by Lyapunov's second method, and the results show that the closed-loop system tends to be asymptotically stable. Finally, taking the dynamic trajectory simulation of compound motion and six-degree-of-freedom motion as examples, the designed sliding mode robust control law is verified by simulation, and the contrastive simulation analysis shows that the disturbance observer can effectively reduce the switching gain, thus effectively reducing chattering and improving the control accuracy of the system. The simulation results show that the designed sliding mode robust control law can effectively suppress the influence of external disturbance on the control error. The control input and the length of the wire change in a certain range. They also prove that the pose error is small, and the control accuracy is high. All of the foundings lay a theoretical foundation and technical support for the practical application of the prototype in a wind-tunnel test.

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Section: A Design Of the Control Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

et al. 2020

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“…These performance characteristics have attracted the interest of many rehabilitation engineering researchers, who have studied various CDLRs with different configurations. Zou YP et al [ 13 , 14 ] designed a movable CDLR, in which two cables are attached to the ankle joint through two pulleys, and the other two cables are fixed at the knee joint through two pulleys. Wang Y.L.…”

Section: Introductionmentioning

confidence: 99%

Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

Wang

et al. 2020

Sensors

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Safety is a significant evaluation index of rehabilitation medical devices and a significant precondition for practical application. However, the safety evaluation of cable-driven rehabilitation robots has not been reported, so this work aims to study the safety evaluation methods and evaluation index of cable-driven rehabilitation robots. A bionic muscle cable (BM cable) is proposed to construct a bionic muscle cable-driven lower limb rehabilitation robot (BM-CDLR). The working principle of the BM-CDLR is introduced. The safety performance factors are defined based on the mechanical analysis of the BM-CDLR. The structural safety evaluation index and the use safety evaluation index of the BM-CDLR are given by comprehensively considering the safety performance factors and a proposed speed influence function. The effect of the structural parameters of the elastic elements in the BM cable on the safety performance factors and safety of the BM-CDLR is analyzed and verified by numerical simulations and experimental studies. The results provide the basis for further study of the compliance control strategy and experiments of the human-machine interaction of the BM-CDLR.

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“…These people present an urgent need for the expanded rehabilitation training and prolonged motion assistance in activities of daily living (ADL). According to the clinical research results of neurological rehabilitation, appropriate repetitive motion of affected extremity shows positive effects on realizing functional improvements and optimizing body balance [1]- [3]. Traditionally, the one-to-one assisted reha-…”

Section: Introductionmentioning

confidence: 99%

RBFN-Based Adaptive Backstepping Sliding Mode Control of an Upper-Limb Exoskeleton With Dynamic Uncertainties

Chen

2019

IEEE Access

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In recent decades, robot-assisted rehabilitation therapy has been widely researched and proven to be effective in the motor function recovery of disabled individuals. In this paper, an adaptive backstepping sliding mode control approach combined with neural uncertainty observer is developed for upper-limb exoskeleton, which can help the human operator perform repetitive rehabilitation training. Firstly, a comprehensive overview about the therapeutic exoskeleton hardware and real-time control system is introduced. Then, the neural adaptive backstepping sliding mode controller (NABSMC) is developed based on radial basis function network (RBFN) to improve the trajectory tracking accuracy with external disturbances and dynamics errors. Next, the closed-loop stability of the proposed controller is demonstrated according to the Lyapunov stability theory. Finally, further experimental investigation are conducted on three volunteers to compare the control performance of NABSMC strategy with an optimal backstepping sliding mode control (OBSMC) strategy. The comparison results show that the proposed NABSMC algorithm is capable of achieving higher trajectory tracking accuracy and better step response characteristic during repetitive passive rehabilitation training. INDEX TERMS Upper-limb exoskeleton, rehabilitation training, adaptive backstepping sliding mode control, neural uncertainty observer, Lyapunov stability theory.

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Design and Experimental Research of Movable Cable-Driven Lower Limb Rehabilitation Robot

Cited by 34 publications

References 35 publications

Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

Sliding Mode Robust Control of a Wire-Driven Parallel Robot Based on HJI Theory and a Disturbance Observer

Safety Evaluation and Experimental Study of a New Bionic Muscle Cable-Driven Lower Limb Rehabilitation Robot

RBFN-Based Adaptive Backstepping Sliding Mode Control of an Upper-Limb Exoskeleton With Dynamic Uncertainties

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