Control strategies for ankle rehabilitation using a high performance ankle exerciser

2010 ◽  
Author(s):  
J A Saglia ◽  
N G Tsagarakis ◽  
J S Dai ◽  
D G Caldwell
Keyword(s):  
High Performance ◽  
Control Strategies ◽  
Ankle Rehabilitation

scholarly journals State of the art in parallel ankle rehabilitation robot: a systematic review

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Mingjie Dong ◽  
Yu Zhou ◽  
Jianfeng Li ◽  
Xi Rong ◽  
Wenpei Fan ◽  
...  
Keyword(s):  
Systematic Review ◽  
Clinical Trials ◽  
State Of The Art ◽  
Control Strategies ◽  
Rehabilitation Robot ◽  
Training Methods ◽  
Rehabilitation Training ◽  
Rotation Center ◽  
Ankle Rehabilitation ◽  
Neurological Injuries

Abstract Background The ankle joint complex (AJC) is of fundamental importance for balance, support, and propulsion. However, it is particularly susceptible to musculoskeletal and neurological injuries, especially neurological injuries such as drop foot following stroke. An important factor in ankle dysfunction is damage to the central nervous system (CNS). Correspondingly, the fundamental goal of rehabilitation training is to stimulate the reorganization and compensation of the CNS, and to promote the recovery of the motor system’s motor perception function. Therefore, an increasing number of ankle rehabilitation robots have been developed to provide long-term accurate and uniform rehabilitation training of the AJC, among which the parallel ankle rehabilitation robot (PARR) is the most studied. The aim of this study is to provide a systematic review of the state of the art in PARR technology, with consideration of the mechanism configurations, actuator types with different trajectory tracking control techniques, and rehabilitation training methods, thus facilitating the development of new and improved PARRs as a next step towards obtaining clinical proof of their rehabilitation benefits. Methods A literature search was conducted on PubMed, Scopus, IEEE Xplore, and Web of Science for articles related to the design and improvement of PARRs for ankle rehabilitation from each site’s respective inception from January 1999 to September 2020 using the keywords “ parallel”, “ ankle”, and “ robot”. Appropriate syntax using Boolean operators and wildcard symbols was utilized for each database to include a wider range of articles that may have used alternate spellings or synonyms, and the references listed in relevant publications were further screened according to the inclusion criteria and exclusion criteria. Results and discussion Ultimately, 65 articles representing 16 unique PARRs were selected for review, all of which have developed the prototypes with experiments designed to verify their usability and feasibility. From the comparison among these PARRs, we found that there are three main considerations for the mechanical design and mechanism optimization of PARRs, the choice of two actuator types including pneumatic and electrically driven control, the covering of the AJC’s motion space, and the optimization of the kinematic design, actuation design and structural design. The trajectory tracking accuracy and interactive control performance also need to be guaranteed to improve the effect of rehabilitation training and stimulate a patient’s active participation. In addition, the parameters of the reviewed 16 PARRs are summarized in detail with their differences compared by using figures and tables in the order they appeared, showing their differences in the two main actuator types, four exercise modes, fifteen control strategies, etc., which revealed the future research trends related to the improvement of the PARRs. Conclusion The selected studies showed the rapid development of PARRs in terms of their mechanical designs, control strategies, and rehabilitation training methods over the last two decades. However, the existing PARRs all have their own pros and cons, and few of the developed devices have been subjected to clinical trials. Designing a PARR with three degrees of freedom (DOFs) and whereby the mechanism’s rotation center coincides with the AJC rotation center is of vital importance in the mechanism design and optimization of PARRs. In addition, the design of actuators combining the advantages of the pneumatic-driven and electrically driven ones, as well as some new other actuators, will be a research hotspot for the development of PARRs. For the control strategy, compliance control with variable parameters should be further studied, with sEMG signal included to improve the real-time performance. Multimode rehabilitation training methods with multimodal motion intention recognition, real-time online detection and evaluation system should also be further developed to meet the needs of different ankle disability and rehabilitation stages. In addition, the clinical trials are in urgent need to help the PARRs be implementable as an intervention in clinical practice.

Continuous Finite-Time Torque Control for Flexible Assistance Exoskeleton with Delay Variation Input

Robotica ◽  
2020 ◽  
pp. 1-26
Author(s):  
Tao Xue ◽  
ZiWei Wang ◽  
Tao Zhang ◽  
Ou Bai ◽  
Meng Zhang ◽  
...  
Keyword(s):  
Finite Time ◽  
Disturbance Rejection ◽  
High Performance ◽  
Control Strategies ◽  
Fractional Power ◽  
Critical Issue ◽  
Human Robot Interaction ◽  
Torque Control ◽  
Finite Time Stability ◽  
Control Scheme

SUMMARY Accurate torque control is a critical issue in the compliant human–robot interaction scenario, which is, however, challenging due to the ever-changing human intentions, input delay, and various disturbances. Even worse, the performances of existing control strategies are limited on account of the compromise between precision and stability. To this end, this paper presents a novel high-performance torque control scheme without compromise. In this scheme, a new nonlinear disturbance observer incorporated with equivalent control concept is proposed, where the faster convergence and stronger anti-noise capability can be obtained simultaneously. Meanwhile, a continuous fractional power control law is designed with an iteration method to address the matched/unmatched disturbance rejection and global finite-time convergence. Moreover, the finite-time stability proof and prescribed control performance are guaranteed using constructed Lyapunov function with adding power integrator technique. Both the simulation and experiments demonstrate enhanced control accuracy, faster convergence rate, perfect disturbance rejection capability, and stronger robustness of the proposed control scheme. Furthermore, the evaluated assistance effects present improved gait patterns and reduced muscle efforts during walking and upstair activity.

scholarly journals Modeling and Controlling the Cooling System of an IC Vehicle

2021 ◽  
pp. 80-85
Author(s):  
C. Mureșan ◽  
◽  
G. Harja
Keyword(s):  
Mathematical Modeling ◽  
Heat Exchangers ◽  
High Performance ◽  
Cooling System ◽  
Control Strategies ◽  
Positive Influence ◽  
Control Algorithms ◽  
Performance Control ◽  
Ic Engines ◽  
Physical Phenomena

The performance and efficiency of internal combustion (IC) engines can be greatly improved by using a high-performance cooling system. This can be achieved by implementing robust control strategies and, also by building the cooling system with high-performance elements. The mechanical execution elements can be replaced with electrically controllable elements such as the pump and the thermostat valve. This will have a positive influence on the degree of controllability of the system. In order to develop high-performance control algorithms, it is necessary to have a model that best reflects the behaviors of the physical system. Thus, this paper presents a mathematical modeling approach for the cooling system using the principles of heat exchangers and the physical phenomena present in them.

Control Strategies for Patient-Assisted Training Using the Ankle Rehabilitation Robot (ARBOT)

2013 ◽  
Vol 18 (6) ◽  
pp. 1799-1808 ◽  
Author(s):  
Jody A. Saglia ◽  
Nikos G. Tsagarakis ◽  
Jian S. Dai ◽  
Darwin G. Caldwell
Keyword(s):  
Control Strategies ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation

System Identification of the High Performance Drilling Process for Network-Based Control

2007 ◽  
Author(s):  
Rau´l M. del Toro ◽  
Michael C. Schmittdiel ◽  
Rodolfo E. Haber-Guerra ◽  
Rodolfo Haber-Haber
Keyword(s):  
Dynamic Behavior ◽  
Feed Rate ◽  
Network Architecture ◽  
High Performance ◽  
Control Strategies ◽  
Input Function ◽  
Resultant Force ◽  
Work Piece ◽  
Drilling Process ◽  
Force System

A simple, fast, network-based experimental procedure for identifying the dynamics of the high-performance drilling (HPD) process is proposed and successfully applied. This identification technique utilizes a single-input (feed rate), single-output (resultant force) system with a dual step input function. The model contains the delays of both the network architecture (a PROFIBUS type network) and the dead time related with the plant dynamic itself. Classical identification techniques are used to obtain first order, second order, and third order models on the basis of the recorded input/output data. The developed models relate the dynamic behavior of resultant force versus commanded feed rate in HPD. Model validation is performed through error-based performance indices and correlation analyses. Experimental verification is performed using two different work piece materials. The models match perfectly with real-time force behavior in drilling operations and are easily integrated with many control strategies. Furthermore, these results demonstrate that the HPD process is somewhat non-linear with a remarkable difference in gain due to work piece material; however, the dynamic behavior does not change significantly.

Conceptual Design and Simulation of the Traction Control System of a High Performance Electric Vehicle

2013 ◽  
Author(s):  
Juan Sebastián Núñez ◽  
Luis Ernesto Muñoz
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Conceptual Design ◽  
High Performance ◽  
Control Strategies ◽  
Traction Force ◽  
Traction Control ◽  
The Road ◽  
Traction Control System ◽  
Low Discrepancy Sequences

This paper presents the conceptual design of the traction control system of a high performance electric vehicle with four driven wheels, intended to be used in quarter mile competitions. Different models of the longitudinal and vertical vehicle’s dynamics are presented, in order to consider the coupling dynamics of front and rear wheels. Two slip control strategies are proposed so as to maximize the traction forces of the wheels. The first one consists of a traditional control scheme applied to each wheel of the vehicle. Since the interaction between the tire and the road is often poorly known, the second controller proposed consists of a perturbation based extremum seeking control (PBESC), in order to maximize the traction force without knowledge of the road and the tire characteristics. Finally an auto tuning process based on low discrepancy sequences for both control systems is presented.

High-Performance Control Strategies for Electrical Drives: An Experimental Assessment

2012 ◽  
Vol 59 (2) ◽  
pp. 812-820 ◽  
Author(s):  
José Rodriguez ◽  
Ralph M. Kennel ◽  
José R. Espinoza ◽  
Mauricio Trincado ◽  
César A. Silva ◽  
...  
Keyword(s):  
High Performance ◽  
Control Strategies ◽  
Experimental Assessment ◽  
Performance Control ◽  
Electrical Drives
Sign in / Sign up

Export Citation Format

Share Document