TY - JOUR
T1 - Adaptive impedance control of a robotic orthosis actuated by pneumatic artificial muscle
AU - Dao, Quy Thinh
AU - Yamamoto, Shin Ichiroh
N1 - Publisher Copyright:
© Springer Nature Singapore Pte Ltd. 2019.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018
Y1 - 2018
N2 - In recent years, rehabilitation robots which help the neurological impaired patient regain the function of the lower limb via training sessions have been developed with great attention. Since these types of robot interact closely with humans, safety is always the top priority considered in the design. Besides, the compliance of the robot must also be controlled to give the subject the best comforts. To fulfill the above mentioned requirements, a two degrees of freedom (2-DOF) robotic orthosis power by pneumatic artificial muscles (PAMs) based on the human musculoskeletal system is developed in this study. The system is able to track any desired trajectories by using a computed torque control strategy. The impedance controller is also integrated into the system to adapt the robot compliance according to the external force. The feasibility and effectiveness of the developed system are verified by experiments.
AB - In recent years, rehabilitation robots which help the neurological impaired patient regain the function of the lower limb via training sessions have been developed with great attention. Since these types of robot interact closely with humans, safety is always the top priority considered in the design. Besides, the compliance of the robot must also be controlled to give the subject the best comforts. To fulfill the above mentioned requirements, a two degrees of freedom (2-DOF) robotic orthosis power by pneumatic artificial muscles (PAMs) based on the human musculoskeletal system is developed in this study. The system is able to track any desired trajectories by using a computed torque control strategy. The impedance controller is also integrated into the system to adapt the robot compliance according to the external force. The feasibility and effectiveness of the developed system are verified by experiments.
KW - Antagonistic actuator
KW - Bi-articular muscle
KW - Computed torque control
KW - Pneumatic artificial muscle
KW - Robot orthosis
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U2 - 10.1007/978-981-10-9038-7_117
DO - 10.1007/978-981-10-9038-7_117
M3 - Conference article
AN - SCOPUS:85048228523
SN - 1680-0737
VL - 68
SP - 631
EP - 636
JO - IFMBE Proceedings
JF - IFMBE Proceedings
IS - 2
T2 - World Congress on Medical Physics and Biomedical Engineering, WC 2018
Y2 - 3 June 2018 through 8 June 2018
ER -