Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators
This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact,...
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| Veröffentlicht in: | IEEE access 2020, Vol.8, p.149796-149807 |
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| creator | Chen, Chun-Ta Lien, Wei-Yuan Chen, Chun-Ting Twu, Ming-Jenq Wu, Yu-Cheng |
| description | This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design. |
| doi_str_mv | 10.1109/ACCESS.2020.3016726 |
| format | Article |
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The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. 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Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design.</description><subject>Actuators</subject><subject>Adaptive control</subject><subject>adaptive fuzzy sliding mode control</subject><subject>Artificial muscles</subject><subject>Control systems design</subject><subject>Dynamic models</subject><subject>Dynamics</subject><subject>Exoskeletons</subject><subject>Fuzzy control</subject><subject>Mathematical model</subject><subject>Modelling</subject><subject>Motion control</subject><subject>Pneumatic artificial muscle</subject><subject>Pneumatic systems</subject><subject>Rehabilitation</subject><subject>Robot kinematics</subject><subject>robotic exoskeleton</subject><subject>Robotics</subject><subject>Shoulder</subject><subject>Sliding mode control</subject><subject>Trajectory control</subject><issn>2169-3536</issn><issn>2169-3536</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>ESBDL</sourceid><sourceid>RIE</sourceid><sourceid>DOA</sourceid><recordid>eNpNUctO3DAUjSoqFQFfwMZS1xmuH3ktR2FakEBF0KpL645zTT3NxNR2UPn7eghC9ca-9zx8pFMU5xxWnEN3se77zcPDSoCAlQReN6L-UBwLXnelrGR99N_7U3EW4w7yafOqao6LdPky4d4ZdusHGt30yHAa8pCcn1jvpxT8yLxlyHrcjlReBvdME7v320wxbPPXx980Usrsny79YncTzXs8QOuQnHXG4chu52hGYmuTZkw-xNPio8Ux0tnbfVL8-LL53l-VN9--Xvfrm9IoaFOJ20YNFgSRGiQCVbbheZRcmKqTIATx1nRCWmjAGgtSIdoM8m2lyKCQJ8X14jt43Omn4PYYXrRHp18XPjxqzClzNl3bATqDzWDIKGqxVUq12R46qKUilb0-L15Pwf-ZKSa983OYcnwtVKVqxaGGzJILywQfYyD7_isHfWhLL23pQ1v6ra2sOl9UjojeFd0BhEr-A5RukNo</recordid><startdate>2020</startdate><enddate>2020</enddate><creator>Chen, Chun-Ta</creator><creator>Lien, Wei-Yuan</creator><creator>Chen, Chun-Ting</creator><creator>Twu, Ming-Jenq</creator><creator>Wu, Yu-Cheng</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Actuators Adaptive control adaptive fuzzy sliding mode control Artificial muscles Control systems design Dynamic models Dynamics Exoskeletons Fuzzy control Mathematical model Modelling Motion control Pneumatic artificial muscle Pneumatic systems Rehabilitation Robot kinematics robotic exoskeleton Robotics Shoulder Sliding mode control Trajectory control |
| title | Dynamic Modeling and Motion Control of a Cable-Driven Robotic Exoskeleton With Pneumatic Artificial Muscle Actuators |
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