Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot
نویسندگان
چکیده
Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.
منابع مشابه
This is an author produced version of Compliance adaptation of an intrinsically soft ankle rehabilitation robot driven by pneumatic muscles. White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/123047/
Pneumatic muscles (PMs)-driven robots become more and more popular in medical and rehabilitation field as the actuators are intrinsically complaint and thus are safer for patients than traditional rigid robots. This paper proposes a new compliance adaptation method of a soft ankle rehabilitation robot that is driven by four pneumatic muscles enabling three rotational movement degrees of freedo...
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