{"title":"Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller","authors":"Soraya Bououden, B. Brahmi, M. Rahman","doi":"10.1109/SSD54932.2022.9955692","DOIUrl":null,"url":null,"abstract":"This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.","PeriodicalId":253898,"journal":{"name":"2022 19th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 19th International Multi-Conference on Systems, Signals & Devices (SSD)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSD54932.2022.9955692","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.