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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   MARCH 2017 , Volume 16 , Number 12 ; Page(s) 135 To 143.
 
Paper: 

CONTROL OF KNEE REHABILITATION ROBOT BASED ON COMBINATION OF BACKSTEPPING AND ADMITTANCE ALGORITHMS

 
 
Author(s):  YOUSEFI FARHAD, ALIPOUR KHALIL*, TARVIRDIZADEH BAHRAM, HADI ALIREZA
 
* DEPARTMENT OF MECHATRONICS ENGINEERING, UNIVERSITY OF TEHRAN, TEHRAN, IRAN
 
Abstract: 

In this study, the control problem of a knee rehabilitation robot is examined. The main drawback of rehabilitation facilities, such as continuous passive motion, is the lack of feedback from the interaction force between the robot and patient leg. This means that if during the exercises an involuntary motion by patient is generated, the increased interaction force can then damage the patient’s leg. The interaction force is increased because the robot tries to hold the patient’s leg along the prescribed reference path. In the current paper, to realize the compliant behavior of the robot, the concept of admittance along with two control methods including adaptive model reference and integral backstepping will be utilized. Adopting admittance control method, the robot will deviate from the prescribed path so that the interaction force can be decreased. The obtained simulation results reveal the good performance of the robot even in the presence of noisy sensory data. Additionally, it has been shown that the proposed combined admittance and backstepping controller has better performance in terms of tracking error and decrease of interaction force, as compared with the model adaptive reference model.

 
Keyword(s): REHABILITATION ROBOT, ADMITTANCE CONTROL, INTEGRAL BACKSTEPPING CONTROL, MODEL REFERENCE ADAPTIVE CONTROL
 
References: 
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