Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10 N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.
Pneumatic muscle Ankle rehabilitation Impedance control
This is a preview of subscription content, log in to check access.
This research is supported by National Natural Science Foundation of China under grants No. 51675389, 51475342.
Bradley, D., et al.: NeXOS-the design, development and evaluation of a rehabilitation system for the lower limbs. Mechatronics 19(2), 247–257 (2009)CrossRefGoogle Scholar
Inoue, K.: Rubbertuators and applications for robots. In: Proceedings of the 4th IEEE International Symposium on Robotics Research, Cambridge, pp. 57–63 (1988)Google Scholar
Chou, C.P.: Measurement and modeling of McKibben pneumatic artificial muscle. IEEE Trans. Robot. Autom. 12(1), 90–102 (1996)CrossRefGoogle Scholar
Gaylord, R.H.: Fluid actuated motor system and stroking device. U.S. Patent 2238058, 22 July (1958)
Doumit, M., Fahim, A.: Michael Munro. analytical modeling and experimental validation of the braided pneumatic muscle. IEEE Trans. Robot. 25(6), 1282–1291 (2009)CrossRefGoogle Scholar
Wickramatunge, K.C., et al.: Study on mechanical behaviors of pneumatic artificial muscle. Int. J. Eng. Sci. 48(2), 188–198 (2010)CrossRefGoogle Scholar
Tu, D.C.T., Ahn, K.K.: Nonlinear PID control to improve the control performance of 2 axes pneumatic artificial muscle manipulator using neural network. Mechatronics 16(9), 577–587 (2006)CrossRefGoogle Scholar
Lin, C.J., Lin, C.R.: Hysteresis modeling and tracking control for a dual pneumatic artificial muscle system using Prandtl-Ishlinskii model. Mechatronics 28, 35–45 (2015)CrossRefGoogle Scholar
Ganguly, S., Garg, A.: Control of pneumatic artificial muscle system through experimental modeling. Mechatronics 22(8), 1135–1147 (2012)CrossRefGoogle Scholar
Perez Ibarra, J.C.: Adaptive impedance control for robot-aided rehabilitation of ankle movements. In: 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), São Paulo, Brazil (2014)
Proietti, T., Crocher, V.: Upper-limb robotic exoskeletons for neurorehabilitation: a review on control strategies. IEEE Rev. Biomed. Eng. 9, 4–14 (2016)CrossRefGoogle Scholar
Chen, S.H., Lien, W.M.: Assistive Control System for Upper Limb Rehabilitation Robot. IEEE Transactions on Neural Systems & Rehabilitation Engineering A Publication of the IEEE Engineering in Medicine & Biology Society 24(11), 1199–1209 (2016)CrossRefGoogle Scholar
Prashant, K.: Impedance control of an intrinsically compliant parallel ankle rehabilitation robot. IEEE Trans. Industr. Electron. 63(6), 3638–3647 (2016)CrossRefGoogle Scholar
Shahid, H., Sheng, Q.: Adaptive impedance control of a robotic orthosis for gait rehabilitation. IEEE Trans. Cybern. 43(3), 1025–1034 (2013)CrossRefGoogle Scholar
Meng, W., Liu, Q.: Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation. Mechatronics 31, 132–145 (2015)CrossRefGoogle Scholar