Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation

Prashant K. Jamwal, Shane Xie, Jack Farrant

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

A new wearable parallel robot has been designed and constructed for ankle joint rehabilitation treatments. The robot employs four pneumatic muscle actuators (PMA) together with cables to achieve three rotational degrees of freedom (dof) of its end platform. Parallel topology of the robot, unpredictable environment along with the time varying and non-linear behavior of actuators impose modeling and control challenges which are difficult to comprehend. In this paper an optimal fuzzy dynamic model of the pneumatic muscle has been developed to accurately predict the muscle behavior. The model is capable of mapping the complex relationship in length, force and pressure of the PMA with higher accuracy. This model has been further used to develop a fuzzy control scheme for the ankle robot. Experimental results are obtained to study and model the simultaneous actuation of all the actuators. Comparison with the previous dynamic modeling and control schemes demonstrates an improved performance of the proposed fuzzy controller.

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
Pages99-108
Number of pages10
Volume3
DOIs
Publication statusPublished - 2009
Externally publishedYes
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Other

OtherASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

Fingerprint

Parallel Robot
Rehabilitation
Fuzzy control
Fuzzy Control
Patient rehabilitation
Muscle
Pneumatics
Actuator
Actuators
Robots
Robot
Dynamic Control
Dynamic Modeling
Fuzzy Controller
Fuzzy Model
Cable
Dynamic models
Dynamic Model
Time-varying
High Accuracy

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Jamwal, P. K., Xie, S., & Farrant, J. (2009). Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation. In Proceedings of the ASME Design Engineering Technical Conference (Vol. 3, pp. 99-108) https://doi.org/10.1115/DETC2009-87803

Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation. / Jamwal, Prashant K.; Xie, Shane; Farrant, Jack.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 3 2009. p. 99-108.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jamwal, PK, Xie, S & Farrant, J 2009, Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation. in Proceedings of the ASME Design Engineering Technical Conference. vol. 3, pp. 99-108, ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009, San Diego, CA, United States, 8/30/09. https://doi.org/10.1115/DETC2009-87803
Jamwal PK, Xie S, Farrant J. Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation. In Proceedings of the ASME Design Engineering Technical Conference. Vol. 3. 2009. p. 99-108 https://doi.org/10.1115/DETC2009-87803
Jamwal, Prashant K. ; Xie, Shane ; Farrant, Jack. / Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation. Proceedings of the ASME Design Engineering Technical Conference. Vol. 3 2009. pp. 99-108
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