An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot

Show simple item record Xie, Sheng en Jamwal, Prashant en 2012-03-18T22:37:59Z en 2011 en
dc.identifier.citation Expert Systems with Applications 38(7):8128-8137 01 Jul 2011 en
dc.identifier.issn 0957-4174 en
dc.identifier.uri en
dc.description.abstract Pneumatic muscle actuators (PMA) show great potential in wearable and compliant rehabilitation devices as they are flexible and lightweight. However, the varying and non-linear behavior of the actuators imposes modeling and control challenges, which are difficult to comprehend. This research proposes a new wearable ankle rehabilitation robot, first of its kind in the world driven by PMAs in a parallel form. The focus of this presented work is to develop an iterative controller to overcome the challenges for PMA driven devices. A fuzzy feedforward controller is proposed to accurately predict the behavior of PMA. A modified Genetic Algorithm (GA) is developed to identify the optimal set of parameters for the fuzzy controller. The iterative controller has been tested on the proposed PMA driven ankle rehabilitation robot, and is found capable of mapping the complex relationship in length, force and pressure of the PMA with high accuracy. Experimental results show excellent trajectory tracking performance of the controller when given various desired trajectories. en
dc.publisher Elsevier Inc en
dc.relation.ispartofseries Expert Systems with Applications en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. Details obtained from: en
dc.rights.uri en
dc.title An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot en
dc.type Journal Article en
dc.identifier.doi 10.1016/j.eswa.2010.12.15 en
pubs.issue 7 en
pubs.begin-page 8128 en
pubs.volume 38 en
dc.rights.holder Copyright: Elsevier Inc en
pubs.end-page 8137 en
dc.rights.accessrights en
pubs.subtype Article en
pubs.elements-id 204961 en
pubs.record-created-at-source-date 2012-02-14 en

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