Cao, J, Xie, SQ and Das, R (2018) MIMO Sliding Mode Controller for Gait Exoskeleton Driven by Pneumatic Muscles. IEEE Transactions on Control Systems Technology, 26 (1). pp. 274-281. ISSN 1063-6536
Abstract
In the past decade, pneumatic muscle (PM) actuated rehabilitation robotic devices have been widely researched, mainly due to the actuators' intrinsic compliance and high power to weight ratio. However, the PMs are highly nonlinear and subject to hysteresis behavior. Hence, robust trajectory and compliance control are important to realize different training strategies and modes for improving the effectiveness of the rehabilitation robots. This paper presents a multi-input-multioutput sliding mode controller, which is developed to simultaneously control the angular trajectory and compliance of the knee joint mechanism of a gait rehabilitation exoskeleton. Experimental results indicate good multivariable tracking performance of this controller, which provides a good foundation for the further development of assist-as-needed training strategies in gait rehabilitation.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. This is an author produced version of a paper published in IEEE Transactions on Control Systems Technology. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | sliding mode (SM) control., Gait rehabilitation, pneumatic muscle (PM) actuators |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 03 Apr 2017 11:19 |
Last Modified: | 26 Jan 2018 12:34 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TCST.2017.2654424 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:114394 |