PID control for the robotic exoskeleton: Application to lower extremity rehabilitation

Author

Liang, Guangye ; Ye, Wenjun ; Xie, Qing

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2012

fDate

5-8 Aug. 2012

Firstpage

2345

Lastpage

2350

Abstract

The paper investigates the PID control of exoskeleton applied to robot-assisted lower extremity rehabilitation. The developed exoskeleton consists of 4 joints, which processes merits of back drivability, precise positioning capabilities, and zero backlash due to its embedded Harmonic drive transmission (HDT) and Elmo driver. For the trajectory tracking, a control based on PID has been presented and implemented in the Elmo servo driver. The experiments are conducted to verify the effectiveness of the proposed system and control approach.

Keywords

medical robotics; patient rehabilitation; servomechanisms; three-term control; trajectory control; Elmo servo driver; HDT; PID control; back drivability; embedded harmonic drive transmission; positioning capabilities; robot-assisted lower extremity rehabilitation; robotic exoskeleton; trajectory tracking; zero backlash; Exoskeletons; Friction; Joints; Manipulators; Mobile communication; Torque; Harmonic Drive Transmission; PID; exoskeleton; lower extremity rehabilitation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2012 International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4673-1275-2

Type

conf

DOI

10.1109/ICMA.2012.6285711

Filename

6285711