Hand rehabilitation is one of the most important rehabilitation procedures. Due to the repetitive nature of rehabilitation training, a full robotic system could help the physiotherapists to gain time for creating new training schemes for a larger number of patients. Such a system can be based on live or recorded data and consists of the operator-device, patient-device, and control mechanism. This paper focuses on the design of the patient-device and its control-system in a decoupled training scenario. It presents a robot for hand rehabilitation training fingers and wrist independently based on only two actuators. These two actuators are configurable to allow consecutive training on the wrist and all joints of the fingers. To overcome uncertainties and disturbances, a sliding mode controller has been designed and an adaptive fuzzy sliding mode controller is used to reduce the chattering effects and compensate the varying forces of the patients. The experimental results show an approximate 80% improvement in tracking the desired trajectory by the adaptation.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Adaptive fuzzy sliding mode controller design for a new hand rehabilitation robot


    Beteiligte:

    Erscheinungsdatum :

    05.09.2020


    Anmerkungen:

    2-s2.0-85091312874



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629 / 600




    New Design Method of Adaptive Fuzzy Sliding Mode Controller

    Wang, S.-y. / Huo, W. | British Library Online Contents | 2001



    Fuzzy Adaptive Impedance Control of Dextrous Robot Hand Based on Sliding Mode Position Control

    Jiang, L. / Cai, H.-g. / Liu, H. | British Library Online Contents | 2001


    Controller Design Based on Adaptive Fuzzy Sliding Mode Control for Ship Course

    Liu, W. / Sui, Q. / Zhou, F. et al. | British Library Online Contents | 2012


    Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

    Abbasi Moshaii, Alireza / Mohammadi Moghaddam, Majid / Dehghan Niestanak, Vahid | BASE | 2019

    Freier Zugriff