Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

Ni, Wencheng; Li, Hui; Jiang, Zhihong; Zhang, Bainan; Huang, Qiang

doi:10.1108/aa-03-2018-041

Cited by 4 publications

(3 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The ideal motion trajectory of waist rehabilitation training is set as X d , the motion tracking error is defined as e = X − X d , the velocity error is defined as ė = Ẋ − Ẋd and the acceleration error is defined as ë = Ẍ − Ẍd . In order to improve the motion control accuracy of patients and the control performance of the system, referring to the design advantages of literature [17][18][19][20][21][22][23][24] and combining with the rehabilitation training characteristics of WWRTPR, an intelligent control method of force/position hybrid control based on RBF neural network is proposed, as shown in Eq. ( 15), and the structural schematic diagram of force/position hybrid control is designed, as shown in Fig.…”

Section: Design Of Control Lawmentioning

confidence: 99%

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

et al. 2022

View full text Add to dashboard Cite

With the increasing demand for rehabilitation and the lack of professional rehabilitation personnel, robot-assisted rehabilitation technology plays an increasingly important role in neurological rehabilitation. In order to recover the exercise ability of patients with waist injury, a new type of wire-driven waist rehabilitation training parallel robot (WWRTPR) is designed. According to the motion trajectory planning of waist rehabilitation training, two coordinate systems are established: moving coordinate system and static coordinate system. The inverse kinematics modeling analysis is carried out, and the dynamic model of the robot is established by using Newton–Euler method. An intelligent control method of force/position hybrid control based on radial basis function neural network is proposed. The stability of the closed-loop system is analyzed, and the results show that WWRTPR tends to be stable. The simulation analysis of rehabilitation training on WWRTPR is carried out, and the simulation results show that the proposed intelligent control method can effectively control the robot system, which provides a reference for the development of a flexible intelligent rehabilitation training robot.

show abstract

Section: Design Of Control Lawmentioning

confidence: 99%

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

et al. 2022

View full text Add to dashboard Cite

show abstract

“…In ref. [18], motion and force controls are studied in a seven-DOF cable-driven rehabilitation training robot, and both active and passive rehabilitation training modes are suggested for enhancement of the movements of the patients. Xiong and Diao [19] worked on motion control for the safety of a cable-driven parallel manipulator in rehabilitation devices with large deformation cables and positioncontrolling actuators.…”

Section: Introductionmentioning

confidence: 99%

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

Seyfi

Khalaji

2022

Robotica

View full text Add to dashboard Cite

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.

show abstract

“…Xiao et al designed a 7-DOF CDLR. [13][14][15][16] It contains two kinds of cable guiding devices which can improve patients' comfort in the training process. The cable is only used to drive the moving joints.…”

Section: Introductionmentioning

confidence: 99%

Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Wang

Yin

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

A double-end lower limb rehabilitation robot is introduced in the paper, which can realize the rehabilitation training of the abduction and abduction, internal rotation and external rotation of human lower limb. The kinematics and dynamics of the robot are analyzed. Based on the motion trajectory planning of the lower limb rehabilitation robot, the motion state and dynamic state of the cable are analyzed. In order to realize the good remote cooperative control between the rehabilitation physician terminal and the patient rehabilitation terminal, the bilateral PD control method and the patient terminal force feedback control method based on the absolute stability theory are analyzed by using the dual-port network model. The simulation results show that the performance of the patient terminal force feedback control method is excellent when the force on the moving platform and the external interference force are changed suddenly. The mapping model of double-ended mechanism is established in the SimMechanics. The simulation results show that the mapping model of double-ended mechanism has a good position tracking ability and their workspaces can meet the requirements of trajectory mapping. The remote collaborative rehabilitation training experiment was done on the established experimental platform. The experimental result shows that the experiment system has a good tracking performance under the guidance of the patient terminal force feedback control method. The feasibility and operability of the remote rehabilitation cooperation technology are verified.

show abstract

Motion and force control method of 7-DOF cable-driven rehabilitation exoskeleton robot

Cited by 4 publications

References 29 publications

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

Study on the design and control method of a wire-driven waist rehabilitation training parallel robot

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

Design and remote collaboration control of asymmetric rigid-flexible hybrid-driven lower limb rehabilitation robot

Contact Info

Product

Resources

About