scholarly journals Control of upper limb rehabilitation robot based on active disturbance rejection control

2021 ◽  
Author(s):  
Junchen Li ◽  
Wenzhao Zhang ◽  
Yu Zheng ◽  
Aimin An ◽  
Wenda Pan
Keyword(s):  
Upper Limb ◽  
Disturbance Rejection ◽  
Rehabilitation Robot ◽  
Active Disturbance Rejection Control ◽  
Upper Limb Rehabilitation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Limb Rehabilitation

Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton

2020 ◽  
pp. 095965182095457
Author(s):  
Sumit Aole ◽  
Irraivan Elamvazuthi ◽  
Laxman Waghmare ◽  
Balasaheb Patre ◽  
Fabrice Meriaudeau
Keyword(s):  
Upper Limb ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Upper Limb Rehabilitation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Flexion Extension ◽  
Non Linear ◽  
Limb Rehabilitation

Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient’s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler–Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20% parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional–integral–derivative and existing conventional active disturbance rejection control method.

Upper-limb Rehabilitation Robot Based on Motor Imagery EEG

ROBOT ◽  
2011 ◽  
Vol 33 (3) ◽  
pp. 307-313 ◽  
Author(s):  
Baoguo XU ◽  
Si PENG ◽  
Aiguo SONG
Keyword(s):  
Motor Imagery ◽  
Upper Limb ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation

Active Disturbance Rejection Control for the Joint Driven by PMAs

ROBOT ◽  
2011 ◽  
Vol 33 (4) ◽  
pp. 461-466 ◽  
Author(s):  
Hao LIU ◽  
Tao WANG ◽  
Wei FAN ◽  
Tong ZHAO ◽  
Junzheng WANG
Keyword(s):  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Upper-limb Rehabilitation Robot Motion Control Based on Dynamic Interpolation

ROBOT ◽  
2012 ◽  
Vol 34 (5) ◽  
pp. 539 ◽  
Author(s):  
Lizheng PAN ◽  
Aiguo SONG ◽  
Guozheng XU ◽  
Huijun LI ◽  
Baoguo XU
Keyword(s):  
Motion Control ◽  
Upper Limb ◽  
Robot Motion ◽  
Rehabilitation Robot ◽  
Upper Limb Rehabilitation ◽  
Limb Rehabilitation
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