Skip to main content
SpringerLink
Log in

Hybrid force control of astronaut rehabilitative training robot under active loading mode

  • Published:
Journal of Central South University Aims and scope Submit manuscript

Abstract

In order to mitigate the effects of space adaptation syndrome (SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot (ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit (CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. FELIX C V, GINI A. Martian feeling: An analogue study to simulate a round-trip to mars using the international space station [J]. Journal of the British Interplanetary Society, 2011, 64(8): 259–264.

    Google Scholar 

  2. WIENER T C. Space obstructive syndrome: Intracranial hypertension, intraocular pressure, and papilledema in space [J]. Aviation Space and Environmental Medicine, 2012, 83(1): 64–66.

    Article  Google Scholar 

  3. HARGENS A R, BHATTACHARYA R, SCHNEIDER S M. Space physiology VI: Exercise, artificial gravity, and countermeasure development for prolonged space flight [J]. European Journal of Applied Physiology, 2013, 113(9): 2183–2192.

    Article  Google Scholar 

  4. WANG H, WAN Y, TAM K F, LING S, BAI Y, DENG Y. Resistive vibration exercise retards bone loss in weight-bearing skeletons during 60 days bed rest [J]. Osteoporosis International, 2012, 23(8): 2169–2178.

    Article  Google Scholar 

  5. MOORE A D, LEE S M C, STENGER M B, PLATTS S H. Cardiovascular exercise in the U.S. space program: Past, present and future [J]. Acta Astronautica, 2010, 66(7/8): 974–988.

    Article  Google Scholar 

  6. SMITH S M, ZWART S R, HEER M, LEE S M C, BAECKER N, MEUCHE S. WISE-2005: Supine treadmill exercise within lower body negative pressure and flywheel resistive exercise as a countermeasure to bed rest-induced bone loss in women during 60-day simulated microgravity [J]. Bone, 2008, 42(3): 572–581.

    Article  Google Scholar 

  7. ENGLISH K L, LOEHR J A, LEE S M C, LAUGHLIN M A, HAGAN R D. Reliability of strength testing using the advanced resistive exercise device and free weights [R]. NASA, 2008, TP-2008-214782.

    Google Scholar 

  8. STREEPER T, CAVANAGH P R, HANSON A M, CARPENTER R D, SAEED I, KORNAK J. Development of an integrated countermeasure device for use in long-duration spaceflight [J]. Acta Astronautica, 2011, 68(11/12): 2029–2037.

    Article  Google Scholar 

  9. CAVANAGH P R, GENC K O, GOPALAKRISHNAN R, KUKLIS M M, MAENDER C C, RICE A J. Foot forces during typical days on the international space station [J]. Journal of Biomechanics, 2010, 43(11): 2182–2188.

    Article  Google Scholar 

  10. WANG K Y, ZHANG L X, MENG H. Driving properties of plane wire-driven robot [J]. Journal of Central South University, 2013, 20(1): 56–61.

    Article  Google Scholar 

  11. YAMAZUMI M, ODA M. Tether based locomotion for astronaut support robot introduction of robot experiment on JEM [J]. Journal of Robotics and Mechatronics, 2013, 25(2): 306–315.

    Google Scholar 

  12. ZHANG L X, ZOU Y P, WANG L, PEI X P. Hybrid force control based on ICMAC for an astronaut rehabilitative training robot regular paper [J]. International Journal of Advanced Robotic Systems, 2012, 9(8).

    Google Scholar 

  13. SUN M, LI C C, LIU X D, ZHANG J Y. Application of ISIC control for extraneous force compensation in the electrohydraulic load simulator [J]. International Journal of Computer Applications in Technology, 2011, 41(1/2): 143–149.

    Article  Google Scholar 

  14. YANG B, HUANG Y, TAI Y. High precision and stable electric loading system based on BOWA-CMAC [J]. Acta Aeronautica et Astronautica Sinica, 2012, 33(4): 734–743.

    Google Scholar 

  15. NI Zhi-sheng, WANG Ming-yan. A novel method for restraining the redundancy torque based on DFNN [J]. Journal of Harbin Institute of Technology, 2012, 44(10): 79–83. (in Chinese)

    Google Scholar 

  16. FAN Ze-ming, LU Li-gang. Single-neuron compound tuning on surplus force inhibition [J]. Journal of Central South University (Science and Technology), 2012, 43(11): 4349–4354. (in Chinese)

    Google Scholar 

  17. ZHANG Li-xun, ZOU Yu-peng, SUI Li-ming, WANG Ke-yi. Active disturbance rejection force control for astronaut rehabilitative training robot [J]. Robot, 2012, 34(2): 217–222. (in Chinese)

    Google Scholar 

  18. LI L, SONG Z, LIANG L, WANG Y. Design a digital notch filter based on Matlab program for photoacoustic gas sensing systems [C]// International Conference on Electrical and Control Engineering, ICECE 2010. Wuhan, China, 2010: 671–674.

    Chapter  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Yu-peng Zou  (邹宇鹏), Li-xun Zhang  (张立勋) & Tao Qin  (秦涛)

  2. Institute of Technology Management, Harbin Engineering University, Harbin, 150001, China

    Hui-zi Ma  (马慧子)

Authors
  1. Yu-peng Zou  (邹宇鹏)
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Li-xun Zhang  (张立勋)
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hui-zi Ma  (马慧子)
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Tao Qin  (秦涛)
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Li-xun Zhang  (张立勋).

Additional information

Foundation item: Project(61175128) supported by the National Natural Science Foundation of China; Project(2008AA040203) supported by the National High Technology Research and Development Program of China; Project(QC2010009) supported by the Natural Science Foundation of Heilongjiang Province, China

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zou, Yp., Zhang, Lx., Ma, Hz. et al. Hybrid force control of astronaut rehabilitative training robot under active loading mode. J. Cent. South Univ. 21, 4121–4132 (2014). https://doi.org/10.1007/s11771-014-2407-4

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11771-014-2407-4

Key words

Search

Navigation