کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
385634 660869 2011 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot
چکیده انگلیسی

Pneumatic muscle actuators (PMA) show great potential in wearable and compliant rehabilitation devices as they are flexible and lightweight. However, the varying and non-linear behavior of the actuators imposes modeling and control challenges, which are difficult to comprehend. This research proposes a new wearable ankle rehabilitation robot, first of its kind in the world driven by PMAs in a parallel form. The focus of this presented work is to develop an iterative controller to overcome the challenges for PMA driven devices. A fuzzy feedforward controller is proposed to accurately predict the behavior of PMA. A modified Genetic Algorithm (GA) is developed to identify the optimal set of parameters for the fuzzy controller. The iterative controller has been tested on the proposed PMA driven ankle rehabilitation robot, and is found capable of mapping the complex relationship in length, force and pressure of the PMA with high accuracy. Experimental results show excellent trajectory tracking performance of the controller when given various desired trajectories.

Research highlights
► We propose a new wearable robot for ankle rehabilitation, first of its kind driven by PMA.
► We examine the nonlinear behavior of PMA and develop a fuzzy fedforward controller to predict the behavior.
► The controller optimised using a modified genetic algorithm has shown improved trajectory tracking performance in our experiments.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Expert Systems with Applications - Volume 38, Issue 7, July 2011, Pages 8128–8137
نویسندگان
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