Zuo, J, Meng, W orcid.org/0000-0003-0209-8753, Liu, Q et al. (3 more authors) (2019) Coupling Disturbance Compensated MIMO Control of Parallel Ankle Rehabilitation Robot Actuated by Pneumatic Muscles. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 04-08 Nov 2019, Macau, China. IEEE , pp. 6608-6613. ISBN 978-1-7281-4005-6
Abstract
To solve the poor compliance and safety problems in current rehabilitation robots, a novel two-degrees-offreedom (2-DOF) soft ankle rehabilitation robot driven by pneumatic muscles (PMs) is presented, taking advantages of the PM’s inherent compliance and the parallel structure’s high stiffness and payload capacity. However, the PM’s nonlinear, time-varying and hysteresis characteristics, and the coupling interference from parallel structure, as well as the unpredicted disturbance caused by arbitrary human behavior all raise difficulties in achieving high-precision control of the robot. In this paper, a multi-input-multi-output disturbance compensated sliding mode controller (MIMO-DCSMC) is proposed to tackle these problems. The proposed control method can tackle the un-modeled uncertainties and the coupling interference existed in multiple PMs’ synchronous movement, even with the subject’s participation. Experiment results on a healthy subject confirmed that the PMs-actuated ankle rehabilitation robot controlled by the proposed MIMO-DCSMC is able to assist patients to perform high-accuracy rehabilitation tasks by tracking the desired trajectory in a compliant manner.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. 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. |
Keywords: | control system synthesis , medical robotics , muscle , patient rehabilitation , pneumatic actuators , variable structure systems |
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) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EPSRC (Engineering and Physical Sciences Research Council) GCRF_IS_2017 |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Jun 2020 13:21 |
Last Modified: | 04 Jun 2020 13:21 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/iros40897.2019.8967684 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:161442 |