دورية أكاديمية
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: | Haozhen Chi, Hairong Su, Wenyu Liang, Qinyuan Ren |
| المصدر: | Actuators, Vol 10, Iss 6, p 123 (2021) |
| بيانات النشر: | MDPI AG, 2021. |
| سنة النشر: | 2021 |
| المجموعة: | LCC:Materials of engineering and construction. Mechanics of materials LCC:Production of electric energy or power. Powerplants. Central stations |
| مصطلحات موضوعية: | rehabilitation robot, adaptive control, antagonistic pairs, bio-inspired structure, pneumatic artificial muscle, Materials of engineering and construction. Mechanics of materials, TA401-492, Production of electric energy or power. Powerplants. Central stations, TK1001-1841 |
| 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. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-0825 |
| Relation: | https://www.mdpi.com/2076-0825/10/6/123; https://doaj.org/toc/2076-0825 |
| DOI: | 10.3390/act10060123 |
| URL الوصول: | https://doaj.org/article/91bc13d635cd4b8ebfb7e5f8474b04f3 |
| رقم الأكسشن: | edsdoj.91bc13d635cd4b8ebfb7e5f8474b04f3 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20760825 |
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| DOI: | 10.3390/act10060123 |