Adaptive Iterative Learning Control design for RUPERT IV

Author

Wei, Ruihua ; Balasubramanian, Sivakumar ; Xu, Lihong ; He, Jiping

Author_Institution

Harrington Dept. of Bioeng., Arizona State Univ., Tempe, AZ

fYear

2008

fDate

19-22 Oct. 2008

Firstpage

647

Lastpage

652

Abstract

An adaptive robot control strategy combining PID-based feedback and Iterative Learning Controller (ILC) is proposed for performing passive reaching tasks for RUPERTtrade (Robotic Upper Extremity Repetitive Therapy), a pneumatic muscle driven rehabilitation robotic device. Additionally, a fuzzy rule-base is used to estimate the ILC learning rate to achieve an optimized learning. The preliminary test results from two able-bodied subjects demonstrate that the proposed controller can provide consistent performance for different subjects performing different reaching tasks.

Keywords

adaptive control; iterative methods; learning (artificial intelligence); medical robotics; patient rehabilitation; pneumatic actuators; three-term control; PID-based feedback; RUPERT IV; Robotic Upper Extremity Repetitive Therapy; adaptive iterative learning control design; adaptive robot control; controller; fuzzy rule-base; optimized learning; pneumatic muscle driven rehabilitation; Adaptive control; Control design; Extremities; Feedback; Medical treatment; Muscles; Programmable control; Rehabilitation robotics; Robot control; Testing; Fuzzy Rule-Base; Iterative Learning Control; Pneumatic Muscle Actuator; Rehabilitation Robotics; Upper Extremity;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on

Conference_Location

Scottsdale, AZ

Print_ISBN

978-1-4244-2882-3

Electronic_ISBN

978-1-4244-2883-0

Type

conf

DOI

10.1109/BIOROB.2008.4762841

Filename

4762841