上肢外骨骼ADRC的仿真研究

2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA) Pub Date : 2022-08-06 DOI:10.1109/ROMA55875.2022.9915692

Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo

{"title":"上肢外骨骼ADRC的仿真研究","authors":"Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo","doi":"10.1109/ROMA55875.2022.9915692","DOIUrl":null,"url":null,"abstract":"Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"ADRC for Upper Limb Exoskeleton: A Simulation Study\",\"authors\":\"Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo\",\"doi\":\"10.1109/ROMA55875.2022.9915692\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.\",\"PeriodicalId\":121458,\"journal\":{\"name\":\"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-08-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROMA55875.2022.9915692\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMA55875.2022.9915692","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

外骨骼的开发是为了缓解康复过程，帮助恢复肌肉力量和功能障碍活动后，事故，脊髓损伤。本文的目的是提出一种应用于上肢机器人康复外骨骼的自抗扰控制技术，以加强康复过程。仿真结果表明，在给定正弦输入条件下，与PID相比，该自抗扰策略具有良好的轨迹跟踪能力和抗扰能力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

ADRC for Upper Limb Exoskeleton: A Simulation Study

Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)

自引率

0.00%

发文量