Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot

Wang, Ke Yi; Fang, Chao; Meng, Hao; Zhang, Li Xun; Liu, Pan

doi:10.4028/www.scientific.net/amm.138-139.68

Cited by 4 publications

(3 citation statements)

References 7 publications

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“…Compliant control can provide a compromise between control accuracy and safety (Schumacher et al, 2019). Compliant control can control the position and force simultaneously and purposefully, including impedance/admittance control (Kim et al, 2021), hybrid force/ position control (Yang et al, 2020), and parallel force/position control (Wang et al, 2011). Compared to hybrid and parallel force/position control, impedance control focuses more on achieving the target relationship between force and position, but does not necessarily track the expected trajectories (Perez-Ibarra et al, 2019;Chen et al, 2020;Sun et al, 2020).…”

Section: )mentioning

confidence: 99%

Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation

Liu,

Zhu,

Zhou

et al. 2024

Front. Bioeng. Biotechnol.

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In recent years, lower limb exoskeletons have achieved satisfactory clinical curative effects in rehabilitating stroke patients. Furthermore, generating individualized trajectories for each patient and avoiding secondary injury in rehabilitation training are important issues. This paper explores the utilization of series elastic actuator (SEA) to deliver compliant force and enhance impact resistance in human-robot interaction, and we present the design of novel knee exoskeleton driven by SEA. Subsequently, the novel gait trajectory prediction method and compliant control method are proposed. The attention-based CNN-LSTM model is established to generate personalized gait trajectories for affected limbs, in which the spatial-temporal attention mechanism is adopted to improve the prediction accuracy. The compliant control strategy is proposed to nonlinearly and adaptively tune impedance parameters based on artificial potential field (APF) method, and active rehabilitation training is carried out in the coordination space to guarantee patient safety. The experimental results based on four healthy subjects demonstrated that synergetic gait prediction model could satisfactorily characterize the coordination movement with higher accuracy. The compliant control could limit the patient’s movement in the safe coordination tunnel while considering personalization and flexibility.

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Section: )mentioning

confidence: 99%

Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation

Liu,

Zhu,

Zhou

et al. 2024

Front. Bioeng. Biotechnol.

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“…The control strategy employed the idea which controlled force and position separately. Force loop was used in controlling wires' tension and position loop was applied in tracing the trajectory of moving platform [6]. It could be realized easily; however, the validity requires further verification.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Simulation to Muscle Strength Training of Lower Limbs Rehabilitation Robots

Wang

Tang

et al. 2014

Advances in Mechanical Engineering

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Considering the issues of lower limb rehabilitation robots with single control strategies and poor training types, a training method for improving muscle strength was put forward in this paper. Patients' muscle strength could be achieved by targeted exercises at the end of rehabilitation. This approach could be realized through programming wires' force. On the one hand, each wires force was measured by tension sensor and force closed loop control was established to control the value of wires' force which was acted on trainees. On the other hand, the direction of output force was changed by detecting the trainees' state of motion and the way of putting load to patient was achieved. Finally, the target of enhancing patients' muscle strength was realized. Dynamic model was built by means of mechanism and training types of robots. Force closed loop control strategy was established based on training pattern. In view of the characteristics of the redundance and economy of wire control, the process for simple wire's load changes was discussed. In order to confirm the characteristics of robot control system, the controller was simulated in Matlab/Simulink. It was verified that command signal could be traced by control system availably and the load during muscle training would be provided effectively.

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“…Position-force control method has been used in many parallel mechanisms. 13,14 Some of them have redundant actuations, such as parallel robot with redundant actuation for earthquake. Kinematics and dynamics of the position-force control robots have been analyzed in Refs.…”

Section: Introductionmentioning

confidence: 99%

A new six-parallel-legged walking robot for drilling holes on the fuselage

Pan

Gao

2013

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a new kind of six-parallel-legged robot is presented. It is designed for drilling holes on the aircraft surface. Each leg of the robot is a 3-DOF parallel mechanism with three chains: 1UP and 2UPS. The three prismatic joints are active joints and can be controlled either by position or by force. First, the task process and the gait plan are discussed and then, according to the requirement, the control method is introduced. After that, the mechanism topology patterns under different working conditions are studied and the control mode of each motor is determined. Then the kinematical model is built up, based on which the position control curves can be obtained. The simulation result shows that the robot can walk pretty well on the fuselage surface and that the actuation forces are quite smooth. Furthermore, the first prototype has been manufactured and some experiments such as walking and manipulation have been done.

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Experimental Research on Force/Position Control of a Wire-Driven Parallel Rehabilitative Robot

Cited by 4 publications

References 7 publications

Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation

Synergetic gait prediction and compliant control of SEA-driven knee exoskeleton for gait rehabilitation

Modeling and Simulation to Muscle Strength Training of Lower Limbs Rehabilitation Robots

A new six-parallel-legged walking robot for drilling holes on the fuselage

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