气动肌肉驱动可穿戴康复机械手的模糊PID控制

Jun Wu, Jian Huang, Yongji Wang, Kexin Xing, Qi Xu
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引用次数: 35

摘要

强化任务导向的重复性物理治疗需要患者和康复专家之间的个性化互动来提供,以改善中风和创伤性脑损伤幸存者的手部运动能力。本研究的目标是开发一种新型的可穿戴设备,用于机器人辅助手部重复治疗。我们设计了一种气动肌肉(PM)驱动的治疗装置,它是可穿戴的,并提供抓取和手指延伸所需的辅助力量。机器人的大拇指和其他手指都有两个不同的自由度。嵌入式传感器可以反馈位置和力信息,用于机器人控制和任务性能的定量评估。在临床治疗的基础上,提供补充的家庭治疗是有潜力的。为实现轨迹跟踪控制,设计了模糊PID控制器。实验结果表明,模糊PID控制器对机械手的角度跟踪控制效果优于传统PID控制器。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Fuzzy PID control of a wearable rehabilitation robotic hand driven by pneumatic muscles
Intensive task-oriented repetitive physical therapies need be provided by individualized interaction between the patients and the rehabilitation specialists to improve hand motor performance for those survived from stoke and traumatic brain injury. The goal of this research is to develop a novel wearable device for robotic assisted hand repetitive therapy. We designed a pneumatic muscle (PM) driven therapeutic device that is wearable and provides assistive forces required for grasping and finger extension. The robot has two distinct degrees of freedom at the thumb and all other fingers. The embedded sensors can feedback position and force information for robot control and quantitative evaluation of task performance. It is potential of providing supplemental at-home therapy in addition to in the clinic treatment. To realize the trajectory tracking control, a fuzzy PID controller is designed for the proposed device. The experimental results show angle tracking control of the robotic hand using the fuzzy PID controller has better performance than that using a conventional PID controller.
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