Design and control of a wearable hand rehabilitation robot

doi:10.1109/ACCESS.2018.2884451

	Design and control of a wearable hand rehabilitation robot
	Long Cheng; Miao Chen; Zhengwei Li
发表期刊	IEEE Access
	2018
卷号	6 页码:74039 - 74050
摘要	This 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.
关键词	Hand rehabilitation exoskeleton cable-driven modularized structure active disturbance rejection controller (ADRC) iterative learning control (ILC)
DOI	10.1109/ACCESS.2018.2884451
WOS记录号	WOS:000454259000001
引用统计	被引频次：50[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23166
专题	复杂系统认知与决策实验室_先进机器人
推荐引用方式 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.