Intelligent Internal Model Control of Robots for Upper-limb Rehabilitation
نویسنده
چکیده
This paper presents a neuro-fuzzy internal model Cartesian controller for robot manipulators. An inductive learning technique is applied to generate the required inverse dynamics and inverse kinematics modelling rules from input/output measurements. A fully differentiable fuzzy neural network is used to construct the adaptive sections of the controller for on-line parameters adaptation. A fuzzy-PID-like incremental controller is employed as feedback servo-controller. The internal model Cartesian controller is implemented using inverse kinematics and forward kinematics models of the robot. The proposed control system was tested using a dynamics model of a six-axis industrial robot to perform upper-limb rehabilitation. The obtained results demonstrate the validity of the proposed control scheme. Copyright© 2005 IFAC
منابع مشابه
A New Intelligent Approach to Patient-cooperative Control of Rehabilitation Robots
This paper presents a new intelligent method to control rehabilitation robots by mainly considering reactions of patient instead of doing a repetitive preprogrammed movement. It generates a general reference trajectory based on different reactions of patient during therapy. Three main reactions has been identified and included in reference trajectory: small variations, force shocks in a single ...
متن کاملInvestigating the Effect of Virtual Reality Environment and Intelligent Control Panel on the Rehabilitation of Upper Limb
Introduction: Occupational therapy and performing specific motor activities are among the healing processes for injured people that should be followed by patients in need after the doctor’s prescription. The objective of this study was to evaluate the effect of using virtual reality environments and interacting with hardware designed for the treatment and rehabilitation of patients with upper l...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملInvestigating the Effect of Virtual Reality Environment and Intelligent Control Panel on the Rehabilitation of Upper Limb
Introduction: Occupational therapy and performing specific motor activities are among the healing processes for injured people that should be followed by patients in need after the doctor’s prescription. The objective of this study was to evaluate the effect of using virtual reality environments and interacting with hardware designed for the treatment and rehabilitation of patients with upper l...
متن کاملUsing BELBIC based optimal controller for omni-directional threewheel robots model identified by LOLIMOT
In this paper, an intelligent controller is applied to control omni-directional robots motion. First, the dynamics of the three wheel robots, as a nonlinear plant with considerable uncertainties, is identified using an efficient algorithm of training, named LoLiMoT. Then, an intelligent controller based on brain emotional learning algorithm is applied to the identified model. This emotional l...
متن کامل