Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot

Jalaeian-F, Mohsen; Fateh, Mohammad Mehdi; Rahimiyan, Morteza

doi:10.1007/s11424-020-8335-5

Cited by 8 publications

(2 citation statements)

References 28 publications

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“…Wrong adjustment of impedance filter parameters can yield unstable contact and generate hard pressure on the target environment when it is not well-adjusted or fixed, and the interaction forces are indirectly controlled by selecting the desired impedance dynamics, which require accurate knowledge of environment parameters, and the issue of time-varying parameters will promote system instability. Khoshdel et al, 2018;Jalaeian et al, 2020 fNIRS-based BCI systems fNIRS is a non-invasive approach for measuring hemodynamic information from the human brain or measuring human brain activities.…”

Section: Human-robot Cooperative Control (Hrcc) Based On Physiologica...mentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

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Effective control of an exoskeleton robot (ER) using a human-robot interface is crucial for assessing the robot's movements and the force they produce to generate efficient control signals. Interestingly, certain surveys were done to show off cutting-edge exoskeleton robots. The review papers that were previously published have not thoroughly examined the control strategy, which is a crucial component of automating exoskeleton systems. As a result, this review focuses on examining the most recent developments and problems associated with exoskeleton control systems, particularly during the last few years (2017–2022). In addition, the trends and challenges of cooperative control, particularly multi-information fusion, are discussed.

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Section: Human-robot Cooperative Control (Hrcc) Based On Physiologica...mentioning

confidence: 99%

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

et al. 2023

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“…Due to the frequent real-world applications of robotics such as rehabilitation robots (Jalaeian-F et al, 2020; Jalaeian-F et al, 2021), simplifying the controller design procedure for robot manipulators and also reducing the number of its tuning parameters are important objectives that many control engineers try to fulfill. Another important issue is that the controller performance in the face of parametric uncertainties should be maintained satisfactorily.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of robot manipulators driven by permanent magnet synchronous motors using orthogonal functions theorem

Khorashadizadeh

Zirkohi²,

Eliasi

et al. 2022

Journal of Vibration and Control

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This paper is devoted to designing a simple tracking controller for robot manipulators driven by permanent magnet synchronous motors (PMSMs) using orthogonal functions. The whole control system including robot manipulator and PMSMs is formulated in such a way that the voltages along the “d” and “q” axes of the PMSMs are considered as the control inputs. In the core of the proposed approach, uncertainties including external disturbances and system dynamics are estimated and compensated using orthogonal functions. Based on the Lyapunov stability theory, the unknown coefficients of the basis functions are tuned online using the derived adaptation laws. A performance evaluation is presented to guarantee the satisfactory operation of the proposed controller in the transient state. The case study is a spherical manipulator driven by PMSMs. The comparative simulation results confirm that the proposed control approach shows a superior performance regarding tracking objectives with a less computational burden.

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Impedance Control of Upper Limb Rehabilitation Robot Based on Series Elastic Actuator

Liu

et al. 2022

Lecture Notes in Computer Science

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Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot

Cited by 8 publications

References 28 publications

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research

Adaptive control of robot manipulators driven by permanent magnet synchronous motors using orthogonal functions theorem

Impedance Control of Upper Limb Rehabilitation Robot Based on Series Elastic Actuator

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