Title :
Adaptive control of twisted string system for arm rehabilitation robot
Author :
Jiang Lei ; Li Yuejuan ; Deng Dongyang
Author_Institution :
Sch. of Mech. Electron. & Inf. Eng., China Univ. of Min. & Technol., Beijing, China
Abstract :
In this research the twisting string system was employed to actuate an arm rehabilitation robot. The mathematic model of the twisted string system was proposed and tested experimentally. An operational linear range that can provide an almost linear movement was identified for the actuation system. A adaptive controller for the twisted string was designed to follow the trajectory of the elbow with a real human motion.
Keywords :
adaptive control; control system synthesis; medical robotics; patient rehabilitation; almost linear movement; arm rehabilitation robot; elbow trajectory; operational linear range; twisted string system adaptive controller design; twisted string system mathematic model; Actuators; Adaptation models; DC motors; Force; Pneumatic systems; Robots; Trajectory; adaptive control; back-stepping; twisted string;
Conference_Titel :
Information Science, Electronics and Electrical Engineering (ISEEE), 2014 International Conference on
Conference_Location :
Sapporo
Print_ISBN :
978-1-4799-3196-5
DOI :
10.1109/InfoSEEE.2014.6946243
