Robust control is a way of dealing with model uncertainties that can render the controller less sensitive to modelling errors and disturbances. Herein, the properties of sliding mode control are applied to impedance control to form a robust impedance controller. The proposed controller consists of two parts: a nominal part based on a nominal model of the robot and a robustness part compensating...

In this paper, a rehabilitation robot driven by multifilament muscles is designed based on the motion model and system elbow joint model. The passive training mode of robots were researched, active disturbance rejection control (ADRC) leveraged to improve tracking angle joints. no-load simulation robots, disturbances are added variables complete ADRC Proportional Integral Differential (PID) pos...

There is an increasing trend in using robots for medical purposes. One specific area is the rehabilitation. There are some commercial exercise machines used for rehabilitation purposes. However, these machines have limited use because of their insufficient motion freedom. In addition, these types of machines are not actively controlled and therefore can not accomodate complicated exercises requ...

—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...