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Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device | |
Li, Houcheng1,2; Cheng, Long1,2; Li, Zhengwei1,2; Xue, Wenchao3 | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
ISSN | 1083-4435 |
2021-04-01 | |
卷号 | 26期号:2页码:841-853 |
摘要 | This article proposes a new hand rehabilitation device to help therapists repetitively perform hand group stretching training for poststroke patients. The actuator of the proposed device is made of elastomeric materials, driven by fluid pressure, and put onto the surface of a glove. Compared to the traditional rigid exoskeletons for hand rehabilitation, the proposed device is soft, lightweight, and low cost. Because the exact and explicit model is hard to be built for the proposed device and the unconscious tremors occurred during hand rehabilitation, the active disturbance rejection control (ADRC) algorithm, based on the extended state observer (ESO), is adopted to achieve the control purpose. This article analyzes the transient and steady-state performances of the controller based on some reasonable assumptions, and shows its better disturbance rejection ability compared to the widely used proportional-integral-differential control method. In addition, the ADRC algorithm with the reduced-order extended state observer (RESO) has been studied as well. The parameters of the RESO can be obtained by the parameters of the previously determined ESO instead of the trial and error approach, which can ensure the control performance of the ADRC with the RESO does not degrade. Finally, clinical tests have been conducted to verify the functional correctness of the proposed device, and these theoretical results have also been verified by experiments and comparisons. |
关键词 | Actuators Exoskeletons Performance evaluation Training IEEE transactions Mechatronics Active disturbance rejection control extended state observer extension motion hand rehabilitation parameter selection transient steady-state performance |
DOI | 10.1109/TMECH.2020.3006364 |
关键词[WOS] | TRACKING CONTROL ; DESIGN ; EXOSKELETON ; GLOVE |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Beijing Natural Science Foundation[JQ19020] ; Beijing Natural Science Foundation[L182060] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873268] |
项目资助者 | Beijing Natural Science Foundation ; National Natural Science Foundation of China |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000641987800024 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能控制 |
国重实验室规划方向分类 | 人机混合智能 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44525 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Cheng, Long |
作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li, Houcheng,Cheng, Long,Li, Zhengwei,et al. Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021,26(2):841-853. |
APA | Li, Houcheng,Cheng, Long,Li, Zhengwei,&Xue, Wenchao.(2021).Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device.IEEE-ASME TRANSACTIONS ON MECHATRONICS,26(2),841-853. |
MLA | Li, Houcheng,et al."Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device".IEEE-ASME TRANSACTIONS ON MECHATRONICS 26.2(2021):841-853. |
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