Experimental Validation for Fuzzy Control of Servo Pneumatic Artificial Muscle Driven by Metal Hydride

Nuchkrua, Thanana; Leephakpreeda, Thananchai; Chen, Shyh Leh

doi:10.1007/s40815-016-0228-3

Cited by 12 publications

(1 citation statement)

References 22 publications

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“…Previously, a lot of studies have been conducted to improve the robustness control system of PAMs-driven robotic devices, such as a basic proportionalintegral-derivative (PID) control approach proposed in [24]. A modified sliding mode control (SMC) approach [25], an adaptive fuzzy logic control (FLC) approach [26] and an adaptive recurrent neural networks (ARNN) control approach [27] were proposed to handle the nonlinearity problem of the system. However, all these control schemes mentioned above are suitable with low-frequency motion, and few of these approaches can be applied to robotic applications in practice under large deformation with fast response.…”

Section: Introductionmentioning

confidence: 99%

Control of a Rehabilitation Robotic Device Driven by Antagonistic Soft Actuators

Chi

Liang

et al. 2021

Actuators

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Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training and treatment of rehabilitation. Due to the compliance and continuous deformation capacity, rehabilitation devices driven by soft actuators are attached to widespread attention. Considering the large output force of pneumatic artificial muscle (PAM) and the biological musculoskeletal structure, an antagonistic PAM-driven rehabilitation robotic device is developed. To fulfill the need for control of the proposed device, a knowledge-guided data-driven modeling approach is used and an adaptive feedforward–feedback control approach is presented to ensure the motion accuracy under large deformation motion with high frequency. Finally, several simulations and experiments are carried out to evaluate the performance of the developed system, and the results show that the developed system with the proposed controller can achieve expected control performance under various operations.

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