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

fYear

2010

fDate

7-9 Nov. 2010

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on

Conference_Location

Henan

Print_ISBN

978-1-4244-7159-1

Type

conf

DOI

10.1109/ICEEE.2010.5661226

Filename

5661226