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 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Pages99-108
Number of pages10
DOIs
Publication statusPublished - Jun 24 2010
Event2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Volume3

Conference

Conference2009 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2009
CountryUnited States
CitySan Diego, CA
Period8/30/099/2/09

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Fuzzy control of a pneumatic muscle driven parallel robot for ankle rehabilitation'. Together they form a unique fingerprint.

Cite this