CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Design and control of a wearable hand rehabilitation robot
Long Cheng; Miao Chen; Zhengwei Li
Source PublicationIEEE Access
2018
Volume6Pages:74039 - 74050
AbstractThis paper proposes a wearable hand rehabilitation robot for assisting patients to do rehabilitation training such as the flexion and extension of fingers. This robot prototype has a modularized structure with nine degrees of freedom for the independent control of the patient’s fingers. To alleviate the weight applied on the patient’s hand and arm, the entire control system is placed in the patient’s backpack and the cable-driven approach is employed to achieve the long-distance power transmission. Because of the repetitive training manner and the existence of external disturbances, a controller combining the iterative learning control (ILC) and the active disturbance rejection control (ADRC) has been proposed for the control of the finger’s joints. The contributions of this paper lie in the robot’s modularized structure design and the proposed “ILC + ADRC” controller. Experimental results have verified the function of the proposed robot and demonstrated the satisfactory control performance achieved by the proposed controller.
KeywordHand rehabilitation exoskeleton cable-driven modularized structure active disturbance rejection controller (ADRC) iterative learning control (ILC)
DOI10.1109/ACCESS.2018.2884451
WOS IDWOS:000454259000001
Citation statistics
Cited Times:7[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23166
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Long Cheng,Miao Chen,Zhengwei Li. Design and control of a wearable hand rehabilitation robot[J]. IEEE Access,2018,6:74039 - 74050.
APA Long Cheng,Miao Chen,&Zhengwei Li.(2018).Design and control of a wearable hand rehabilitation robot.IEEE Access,6,74039 - 74050.
MLA Long Cheng,et al."Design and control of a wearable hand rehabilitation robot".IEEE Access 6(2018):74039 - 74050.
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