Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

RLSESN‐based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM‐TS actuators

RLSESN‐based PID adaptive control for a novel wearable rehabilitation robotic hand driven by... Purpose – The purpose of this paper is to develop a novel wearable rehabilitation robotic hand driven by Pneumatic Muscle‐Torsion Spring (PM‐TS) for finger therapy. PM has complex nonlinear dynamics, which makes PM modelling difficult. To realize high‐accurate tracking for the robotic hand, an Echo State Network (ESN)‐based PID adaptive controller is proposed, even though the plant model is unknown. Design/methodology/approach – To drive a single joint of rehabilitation robotic hand, the paper proposes a new PM‐TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Based on the novel actuator, a wearable robotic hand is designed. By employing the model‐free approximation capability of ESN, the RLSESN based PID adaptive controller is presented for improving the trajectory tracking performance of the rehabilitation robotic hand. An ESN together with Recursive Least Square (RLS) is called a RLSESN, where the ESN output weight matrix is updated by the online RLS learning algorithm. Findings – Practical experiments demonstrate the validity of the PM‐TS actuator and indicate that the performance of the RLSESN based PID adaptive controller is better than that of the conventional PID controller. In addition, they also verify the effectiveness of the proposed rehabilitation robotic hand. Originality/value – A new PM‐TS actuator configuration that uses a PM and a torsion spring for bi‐directional movement of joint is presented. By utilizing the new PM‐TS actuator, a novel wearable rehabilitation robotic hand for finger therapy is designed. Based on the unknown plant model, the RLSESN_PID controller is proposed to attain satisfactory performance. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

RLSESN‐based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM‐TS actuators

Loading next page...
 
/lp/emerald-publishing/rlsesn-based-pid-adaptive-control-for-a-novel-wearable-rehabilitation-oxQtvvpPnv
Publisher
Emerald Publishing
Copyright
Copyright © 2012 Emerald Group Publishing Limited. All rights reserved.
ISSN
1756-378X
DOI
10.1108/17563781211208242
Publisher site
See Article on Publisher Site

Abstract

Purpose – The purpose of this paper is to develop a novel wearable rehabilitation robotic hand driven by Pneumatic Muscle‐Torsion Spring (PM‐TS) for finger therapy. PM has complex nonlinear dynamics, which makes PM modelling difficult. To realize high‐accurate tracking for the robotic hand, an Echo State Network (ESN)‐based PID adaptive controller is proposed, even though the plant model is unknown. Design/methodology/approach – To drive a single joint of rehabilitation robotic hand, the paper proposes a new PM‐TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Based on the novel actuator, a wearable robotic hand is designed. By employing the model‐free approximation capability of ESN, the RLSESN based PID adaptive controller is presented for improving the trajectory tracking performance of the rehabilitation robotic hand. An ESN together with Recursive Least Square (RLS) is called a RLSESN, where the ESN output weight matrix is updated by the online RLS learning algorithm. Findings – Practical experiments demonstrate the validity of the PM‐TS actuator and indicate that the performance of the RLSESN based PID adaptive controller is better than that of the conventional PID controller. In addition, they also verify the effectiveness of the proposed rehabilitation robotic hand. Originality/value – A new PM‐TS actuator configuration that uses a PM and a torsion spring for bi‐directional movement of joint is presented. By utilizing the new PM‐TS actuator, a novel wearable rehabilitation robotic hand for finger therapy is designed. Based on the unknown plant model, the RLSESN_PID controller is proposed to attain satisfactory performance.

Journal

International Journal of Intelligent Computing and CyberneticsEmerald Publishing

Published: Mar 23, 2012

Keywords: Robotics; Control systems; Controllers; Actuators; Adaptive system theory; Wearable rehabilitation robotic hand; Echo state network; Pneumatic muscle; Trajectory tracking

References