Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller

Soraya Bououden, B. Brahmi, M. Rahman
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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.
基于模糊控制器的治疗机器人平面设计控制
提出了一种基于平面度的控制器与模糊控制器相结合的方法,用于控制假肢2-DOF便携式末端执行器型治疗机器人iTbot (intelligent therapeutic robot)。与最先进的康复机器人相比,这个原型已经在多个手动选择的方向上进行操作,为中风幸存者实现了广泛的机器人辅助练习。为了在物理治疗活动中提供有效的康复,我们提出了系统的微分几何变换,以获得三角形标准范式,并结合模糊预补偿器,以实现指定轨迹的高速和高精度。仿真结果表明了所提控制方案的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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