Research on Fuzzy PID Control Algorithm for Lower Limb Rehabilitation Robot

被引：0
|
作者：
Wang, Hongbo [1 ,2 ]
Lu, Tingting [1 ]
Niu, Baoshan [1 ]
Yan, Hao [1 ]
Wang, Xincheng [1 ]
Chen, Jianyu [1 ]
Li, Yungui [1 ]
机构：
[1] Parallel Robot & Mechatron Syst Lab Hebei Prov, Qinhuangdao, Hebei, Peoples R China
[2] Minist Educ, Key Lab Adv Forging & Stamping Technol & Sci, Qinhuangdao, Hebei, Peoples R China
来源：
PROCEEDINGS OF 2018 IEEE 4TH INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC 2018) | 2018年
关键词：
lower limbs rehabilitation robot; negative feedback; fuzzy PID; simulink;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cerebrovascular disease, hemiplegia and paraplegia may lead to lower extremity motor dysfunction. According to the theory of neural rehabilitation, proper rehabilitation training can help patients recover. In this paper, a lower limb rehabilitation robot is proposed, which can realize passive training and active training. Firstly, the mechanical structure and electrical system are designed. Secondly, in order to solve the problem of inaccurate parameters in the dynamic model of robot joint torque control, a fuzzy adaptive PID controller is established by combining negative feedback with PID regulator to eliminate the system error.
引用
收藏
页码：956 / 960
页数：5
相关论文
共 50 条
  • [21] Impedance Control for a Lower-Limb Rehabilitation Robot
    Chen, Xin
    Chen, Weihai
    Wang, Jianhua
    Zhang, Jianbin
    PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2017, : 1212 - 1217
  • [22] Human-Robot Cooperation Control Based on Trajectory Deformation Algorithm for a Lower Limb Rehabilitation Robot
    Zhou, Jie
    Li, Zhijun
    Li, Xianming
    Wang, Xiaoyun
    Song, Rong
    IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2021, 26 (06) : 3128 - 3138
  • [23] Lower Limb Rehabilitation Robot
    Chen, Shuping
    Wang, Yang
    Li, Shujun
    Wang, Guoan
    Huang, Ying
    Mao, Xin
    RECONFIGURABLE MECHANISMS AND ROBOTS, 2009, : 423 - +
  • [24] Gait analysis algorithm for lower limb rehabilitation robot applications
    Zheng, Li
    Song, Tao
    MECHANICAL SCIENCES, 2023, 14 (02) : 315 - 331
  • [25] Control of a New Cycling Rehabilitation Robot Based on Fuzzy PID
    Jiang, Dawei
    Shi, Guoquan
    Pang, Zaixiang
    Li, Shuang
    Tian, Yuan
    6TH ANNUAL INTERNATIONAL WORKSHOP ON MATERIALS SCIENCE AND ENGINEERING, 2020, 1622
  • [26] Development and Control of an upper Limb Rehabilitation Robot via Ant Colony Optimization-PID and Fuzzy-PID Controllers
    Mirrashid, N.
    Alibeiki, E.
    Rakhtala, S. M.
    INTERNATIONAL JOURNAL OF ENGINEERING, 2022, 35 (08):
  • [27] Control Strategy and Experimental Research of Cable-Driven Lower Limb Rehabilitation Robot
    Wang, Yan-Lin
    Wang, Ke-Yi
    Li, Xiang
    Mo, Zong-Jun
    Wang, Kui-Cheng
    IEEE ACCESS, 2021, 9 : 79182 - 79195
  • [28] Control strategy and experimental research of a cable-driven lower limb rehabilitation robot
    Wang, Yanlin
    Wang, Keyi
    Zhang, Zixing
    Mo, Zongjun
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2021, 235 (13) : 2468 - 2481
  • [29] Fuzzy PID Control of Lower Limb Exoskeleton for Elderly Mobility
    Al Rezage, Ghasaq
    Tokhi, M. O.
    PROCEEDING OF 2016 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION, QUALITY AND TESTING, ROBOTICS (AQTR), 2016, : 169 - 174
  • [30] Research on Safety and Compliance of a New Lower Limb Rehabilitation Robot
    Feng, Yongfei
    Wang, Hongbo
    Yan, Hao
    Wang, Xincheng
    Jin, Zhennan
    Vladareanu, Luige
    JOURNAL OF HEALTHCARE ENGINEERING, 2017, 2017
12345