Fuzzy Self-Tuning PI Control for the Upper Limb Rehabilitation Robot

Yu Ding Cui; Cai Hua Xiong

doi:10.4028/www.scientific.net/AMM.556-562.2262

Paper Titles

Research of Control System of Variable Frequency Motor
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Simultaneous Localization and Mapping for Robot Based Multi-Agent System
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Design and Application of PWM Digital Controller Based on FPGA
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Development of Stamping Process CAD System on Automatic Production Line for Robotic Manipulation
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Fuzzy Self-Tuning PI Control for the Upper Limb Rehabilitation Robot
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Conjugate Unscented Particle Filter Based Monte Carlo Localization for Mobile Robots
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Sensorless Control for PMLSM Based on Fuzzy Sliding Mode Observer
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Application of High Frequency Signal Injection Method in PMSM Control Using Fuzzy Kalman Filtering Algorithm
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Improvement of Attitude Estimation Using Modified Rodrigues Parameters and Intelligent Controller
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 556-562Fuzzy Self-Tuning PI Control for the Upper Limb...

Fuzzy Self-Tuning PI Control for the Upper Limb Rehabilitation Robot

Abstract:

It is well known that the robot powered by pneumatic muscle actuator (PMA) which with highly nonlinear, time lag and time-varying characteristics is not easy to control. In this paper, we presented a hybrid fuzzy and PI controller for the upper-limb rehabilitation robot which was designed and built in our lab to assist patients post-stroke in the rehabilitation. The experimental results showed that controller can improve dynamic and static performance of the device, then it can control robot effectively to aid patients carrying on the systematized recovery training.

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Periodical:

Applied Mechanics and Materials (Volumes 556-562)

Pages:

2262-2265

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.556-562.2262

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Online since:

May 2014

Authors:

Yu Ding Cui*, Cai Hua Xiong

Keywords:

Fuzzy Logic, PI Control, Pneumatic Muscle Actuator, Rehabilitation Robot

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* - Corresponding Author

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