An Advanced Adaptive Control of Lower Limb Rehabilitation Robot
Rehabilitation robots play an important role in the rehabilitation field, and effective human-robot interaction contributes to promoting the development of the rehabilitation robots. Though many studies about the human-robot interaction have been carried out, there are still several limitations in t...
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2018-10-01
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doaj-4662cb634a054ccab4a65810a9ebf3cf2020-11-25T00:47:37ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442018-10-01510.3389/frobt.2018.00116375021An Advanced Adaptive Control of Lower Limb Rehabilitation RobotYihao DuHao WangShi QiuWenxuan YaoPing XieXiaoling ChenRehabilitation robots play an important role in the rehabilitation field, and effective human-robot interaction contributes to promoting the development of the rehabilitation robots. Though many studies about the human-robot interaction have been carried out, there are still several limitations in the flexibility and stability of the control system. Therefore, we proposed an advanced adaptive control method for lower limb rehabilitation robot. The method was devised with a dual closed loop control strategy based on the surface electromyography (sEMG) and plantar pressure to improve the robustness of the adaptive control for the rehabilitation robots. First, in the outer loop control, an advanced variable impedance controller based on the sEMG and plantar pressure was designed to correct robot's reference trajectory. Then, in the inner loop control, a sliding mode iterative learning controller (SMILC) based on the variable boundary saturation function was designed to achieve the tracking of the reference trajectory. The experiment results showed that, in the designed dual closed loop control strategy, a variable impedance controller can effectively reduce trajectory tracking errors and adaptively modify the reference trajectory synchronizing with the motion intention of patients; the designed sliding mode iterative learning controller can effectively reduce chattering in sliding mode control and excellently achieve the tracking of rehabilitation robot's reference trajectory. This study can improve the performance of the human-robot interaction of the rehabilitation robot system, and expand the application to the rehabilitation field.https://www.frontiersin.org/article/10.3389/frobt.2018.00116/fulllower limb rehabilitation robotmotion analysisdual closed loop controladvanced variable impedance controlsliding mode iterative learning control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Yihao Du Hao Wang Shi Qiu Wenxuan Yao Ping Xie Xiaoling Chen |
spellingShingle |
Yihao Du Hao Wang Shi Qiu Wenxuan Yao Ping Xie Xiaoling Chen An Advanced Adaptive Control of Lower Limb Rehabilitation Robot Frontiers in Robotics and AI lower limb rehabilitation robot motion analysis dual closed loop control advanced variable impedance control sliding mode iterative learning control |
author_facet |
Yihao Du Hao Wang Shi Qiu Wenxuan Yao Ping Xie Xiaoling Chen |
author_sort |
Yihao Du |
title |
An Advanced Adaptive Control of Lower Limb Rehabilitation Robot |
title_short |
An Advanced Adaptive Control of Lower Limb Rehabilitation Robot |
title_full |
An Advanced Adaptive Control of Lower Limb Rehabilitation Robot |
title_fullStr |
An Advanced Adaptive Control of Lower Limb Rehabilitation Robot |
title_full_unstemmed |
An Advanced Adaptive Control of Lower Limb Rehabilitation Robot |
title_sort |
advanced adaptive control of lower limb rehabilitation robot |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Robotics and AI |
issn |
2296-9144 |
publishDate |
2018-10-01 |
description |
Rehabilitation robots play an important role in the rehabilitation field, and effective human-robot interaction contributes to promoting the development of the rehabilitation robots. Though many studies about the human-robot interaction have been carried out, there are still several limitations in the flexibility and stability of the control system. Therefore, we proposed an advanced adaptive control method for lower limb rehabilitation robot. The method was devised with a dual closed loop control strategy based on the surface electromyography (sEMG) and plantar pressure to improve the robustness of the adaptive control for the rehabilitation robots. First, in the outer loop control, an advanced variable impedance controller based on the sEMG and plantar pressure was designed to correct robot's reference trajectory. Then, in the inner loop control, a sliding mode iterative learning controller (SMILC) based on the variable boundary saturation function was designed to achieve the tracking of the reference trajectory. The experiment results showed that, in the designed dual closed loop control strategy, a variable impedance controller can effectively reduce trajectory tracking errors and adaptively modify the reference trajectory synchronizing with the motion intention of patients; the designed sliding mode iterative learning controller can effectively reduce chattering in sliding mode control and excellently achieve the tracking of rehabilitation robot's reference trajectory. This study can improve the performance of the human-robot interaction of the rehabilitation robot system, and expand the application to the rehabilitation field. |
topic |
lower limb rehabilitation robot motion analysis dual closed loop control advanced variable impedance control sliding mode iterative learning control |
url |
https://www.frontiersin.org/article/10.3389/frobt.2018.00116/full |
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