Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

Lone, Sa’aadat Syafeeq; Azlan, Norsinnira Zainul; Kamarudzaman, Norhaslinda

doi:10.31763/ijrcs.v1i4.447

Cited by 4 publications

(4 citation statements)

References 31 publications

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“…However, for applications that require higher levels of power and movement, electric or hydraulic systems may be necessary [2]. The power produced by Pneumatic Artificial Muscles (PAM) actuators doesn't rely just upon pressure yet in addition to the condition of expansion, which adds one more wellspring of the spring-like way of behaving [3]. Since multilayer structures are the central component of these actuators, these PAMs that mimic human muscle movement are lightweight [4,5].…”

Section: Introductionmentioning

confidence: 99%

Non-Leaner Control on the Pneumatic Artificial Muscles: A Comparative Study Between Adaptive Backstepping and Conventional Backstepping Algorithms

Ahmed¹,

Kadhim²

2023

MMEP

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This paper focuses on the control of Pneumatic Artificial Muscles (PAMs) used in arm manipulator modeling and the dynamic model of the Pneumatic Artificial Muscles. PAMs have become popular in robotics due to their fast work capabilities, direct action mechanisms, and safety implementation. However, these systems often suffer from uncertainty, nonlinearity, and time-varying features, which negatively impact tracking control performance and cause instability in motion outcomes. To address these issues, this study presents a comparison of two controllers: an adaptive backstepping controller and a backstepping convolution controller. Computer simulations were used to evaluate the performance of both controllers. The results demonstrate that the adaptive backstepping controller effectively eliminates chattering, reduces error, and maintains stability in the controlled system, leading to smoother signal curves and improved overall response in the arm model. In conclusion, the study provides evidence that the adaptive backstepping controller is a more effective control solution for PAM-led arm manipulator systems, offering improved control of uncertainties and better motiontracking performance. These findings have important implications for the development of advanced robotic systems using PAMs.

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Section: Introductionmentioning

confidence: 99%

Non-Leaner Control on the Pneumatic Artificial Muscles: A Comparative Study Between Adaptive Backstepping and Conventional Backstepping Algorithms

Ahmed¹,

Kadhim²

2023

MMEP

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“…PAMs are used in contemporary robotic systems because they typically provide high-speed action skills, an uncomplicated working mechanism, and safety operations. The power produced by PAM actuators doesn't rely just upon pressure yet in addition on the condition of expansion, which adds one more wellspring of the spring-like way of behaving [2]. Since multilayer structures are the central component of these actuators, these PAMs that mimic human muscle movement are lightweight.…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study Between Convolution and Optimal Backstepping Controller for Single Arm Pneumatic Artificial Muscles

Ahmed

Kadhim

2022

Journal of Robotics and Control

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This study was based on the dynamic modeling and parameter characterization of the one-link robot arm driven by pneumatic artificial muscles. This work discusses an up-to-date control design based on the notion of a conventional and optimal backstepping controller for regulating a one-link robot arm with conflicting biceps and triceps positions supplied by pneumatic artificial muscles. The main problems found in systems that utilize pneumatic artificial muscle as actuators are primarily the large uncertainties, non-linearities, and time-varying features that severely impede movement performance in tracking control. In consideration of the uncertainty, high nonlinearity, and external disturbances that can exist during the motion. Lyapunov-based backstepping control technique was utilized to assure the stability of the system with improved dynamic performance. The bat algorithm optimization method is utilized in order to modify the variables used in the design of the controller to enhance the efficiency of the suggested controller. According to the conclusions, a quantitative comparison of the response in the PAM actuated the arm model in the current study and earlier investigations with the Backstepping controlled system revealed fair agreement with a variation of 37.5% from the optimal classical synergetic controller. In addition, computer simulations were utilized in order to compare the effectiveness of the proposed conventional controls and the optimal background. It has been proven that an optimal controller can control the uncertainties and maintain the controlled system’s stability.

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“…The number of accidents increased day by day, during performing life-saving activities. A huge population of the world is suffering from various kinds of disabilities that make basic daily activities to be challenging [3]. Most systems need a human being to be physically present to perform dangerous tasks.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Force Sensation and Feedback Systems for Telepresence Robotic Arm

Nisa

Samo

Nizamani

et al. 2022

Journal of Robotics and Control

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Humans put their own lives aside to save other human’s life and perform risky and dangerous activities. The risk can be reduced by using new technologies. This research study focuses on telepresence and teleoperation systems with motion and force control systems that replace humans in hazardous workspaces. In telepresence, the system helps humans to visualize the environment in real-time. In teleoperation, the system provides sensation to assist human beings in performing out-of-reach and dangerous operations safely as in real, providing a shadow hand to the operator. In this study, a system is developed that consists of a slave robotic arm and a master wearable device with bidirectional communication between the robotic arm and operator (master wearable device). It also presents a gesture-controlled robotic arm that uses sensors to read and translate human arm movements as commands. The slave robotic arm, senses applied force on an object and a master wearable device develops the force according to sensed force, in a result operator senses/feels the same object in the control room at distance. The slave robotic arm also mimics the operator arm to reach the proper position of an object. Several experiments were conducted with untrained personnel and satisfactory results were yielded, which showed that the motion and force replication is 90-95% accurate.

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Soft Pneumatic Exoskeleton for Wrist and Thumb Rehabilitation

Cited by 4 publications

References 31 publications

Non-Leaner Control on the Pneumatic Artificial Muscles: A Comparative Study Between Adaptive Backstepping and Conventional Backstepping Algorithms

Non-Leaner Control on the Pneumatic Artificial Muscles: A Comparative Study Between Adaptive Backstepping and Conventional Backstepping Algorithms

A Comparative Study Between Convolution and Optimal Backstepping Controller for Single Arm Pneumatic Artificial Muscles

Design and Implementation of Force Sensation and Feedback Systems for Telepresence Robotic Arm

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