DEVELOPMENT OF A REHABILITATION ROBOT: MODELING AND TRAJECTORY TRACKING CONTROL

Authors

  • Minh-Chien Trinh School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
  • Trong-Hieu Do School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
  • Quy-Thinh Dao School of Electrical and Electronic Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam

DOI:

https://doi.org/10.11113/aej.v12.17196

Keywords:

Active disturbance rejection control, Pneumatic artificial muscle, Rehabilitation robot, Gait training system

Abstract

Recently, assistive robots have attracted great attention from researchers in the rehabilitation field. These types of robots support patients to perform designated movements during a training process. Despite the existence of commercial rehabilitation systems, growing demands for improvement in both hardware and control design are evident. Therefore, this paper introduces a prototype pneumatic artificial muscle-based assistive robot named BK-Gait and its control strategy for trajectory tracking purposes. Firstly, a brief description of the robot mechanism is presented. Secondly, the mathematical model of the robot’s actuator is built. Third, an active disturbance rejection control (ADRC) strategy is developed to enhance the tracking performance of the robot. Finally, multi scenarios experiments are carried out to evaluate the applicability of the robot and the proposed controller in the rehabilitation field.

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Published

2022-11-29

How to Cite

Trinh, M.-C. ., Do, T.-H., & Dao, Q.-T. (2022). DEVELOPMENT OF A REHABILITATION ROBOT: MODELING AND TRAJECTORY TRACKING CONTROL. ASEAN Engineering Journal, 12(4), 121-129. https://doi.org/10.11113/aej.v12.17196

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Articles