Control of a Rehabilitation Robotic Device Driven by Antagonistic Soft Actuators
| العنوان: | Control of a Rehabilitation Robotic Device Driven by Antagonistic Soft Actuators |
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| المؤلفون: | Wenyu Liang, Qinyuan Ren, Hairong Su, Haozhen Chi |
| المصدر: | Actuators Volume 10 Issue 6 Actuators, Vol 10, Iss 123, p 123 (2021) |
| بيانات النشر: | MDPI AG, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | TK1001-1841, 0209 industrial biotechnology, Control and Optimization, Adaptive control, Large deformation, Computer science, medicine.medical_treatment, Control (management), bio-inspired structure, 02 engineering and technology, adaptive control, pneumatic artificial muscle, Production of electric energy or power. Powerplants. Central stations, 020901 industrial engineering & automation, rehabilitation robot, Control theory, 0202 electrical engineering, electronic engineering, information engineering, medicine, Musculoskeletal structure, Materials of engineering and construction. Mechanics of materials, Rehabilitation, Control engineering, Control and Systems Engineering, TA401-492, 020201 artificial intelligence & image processing, Artificial muscle, antagonistic pairs, Actuator |
| الوصف: | Stroke is becoming a widely concerned social problem, and robot-assisted devices have made considerable contributions in the training and treatment of rehabilitation. Due to the compliance and continuous deformation capacity, rehabilitation devices driven by soft actuators are attached to widespread attention. Considering the large output force of pneumatic artificial muscle (PAM) and the biological musculoskeletal structure, an antagonistic PAM-driven rehabilitation robotic device is developed. To fulfill the need for control of the proposed device, a knowledge-guided data-driven modeling approach is used and an adaptive feedforward–feedback control approach is presented to ensure the motion accuracy under large deformation motion with high frequency. Finally, several simulations and experiments are carried out to evaluate the performance of the developed system, and the results show that the developed system with the proposed controller can achieve expected control performance under various operations. |
| وصف الملف: | application/pdf |
| تدمد: | 2076-0825 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::eca3b57e55d03533640b6b6bd621b289 https://doi.org/10.3390/act10060123 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi.dedup.....eca3b57e55d03533640b6b6bd621b289 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 20760825 |
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