Title :
Fuzzy Hybrid Force-Position Control for the Robotic Arm of an Upper Limb Rehabilitation Robot Powered by Pneumatic Muscles
Author :
Jiang Xianzhi ; Xiong Caihua ; Sun Ronglei ; Xiong Youlun
Author_Institution :
State Key Lab. of Digital Manuf. Equip. & Technol., Huazhong Univ. of Sci. & Technol., Wuhan, China
Abstract :
The main aim of this paper is to design a hybrid force-position controller using fuzzy logic (FL) for the robotic arm of a 9 degrees of freedom (DOF) upper limb wearable exoskeleton rehabilitation robot. The robot is designed and built in our lab for assisting in the rehabilitation of patients post-stroke. The robotic arm of the rehabilitation robot is driven by pneumatic muscles (PM) and its dynamic performance is very complex. Fuzzy logic (FL) control techniques are applied to the robotic arm and the results show that FL controller shows better performances than that of the conventional PI controller in hybrid force-position control of the specified robotic arm of the rehabilitation robot.
Keywords :
artificial limbs; dexterous manipulators; force control; fuzzy control; fuzzy logic; medical robotics; muscle; patient rehabilitation; pneumatic systems; position control; PI controller; force control; fuzzy logic control technique; pneumatic muscle; position control; robotic arm; upper limb wearable exoskeleton rehabilitation robot; Force; Fuzzy logic; Pneumatic systems; Robots; Steel; Torque; Wire;
Conference_Titel :
E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on
Conference_Location :
Henan
Print_ISBN :
978-1-4244-7159-1
DOI :
10.1109/ICEEE.2010.5661226
