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Stable assist-as-needed controller design for a planar cable-driven robotic system

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  • Robot and Applications
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Abstract

Robot-assisted rehabilitation systems have shown promising advantages over traditional therapist-based methods. The type of the controller has an important role in the efficiency of such systems. In this regard, this paper presents a new assist-as-needed (AAN) controller for 4-cable planar robots. The main purpose is to design a bounded-input AAN controller with an adjustable assistance level and a guaranteed closed-loop stability. The proposed controller involves the advantages of both the model-based and non-model-based AAN controllers, and in this way can increase the efficiency of rehabilitation. The controller aims to follow a desired trajectory by allowing an adjustable tracking error, which enables the human subject to freely move the target limb inside this error area. This feature of the controller gives an important advantage over the existing model-based controllers. The controller also compensates for the dynamic modeling uncertainties of the system through an adaptive neural network. The adaptive term includes a forgetting factor to adjust the assistance level of neural network term. The stability of the closed-loop system is analysed, and the uniformly ultimately bounded stability is proven. The effectiveness of the proposed control scheme is validated through simulations conducted for gait rehabilitation.

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Authors and Affiliations

  1. Control System Laboratory, Toyota Technological Institute, Nagoya, Japan

    Hamed Jabbari Asl

  2. School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea

    Jungwon Yoon

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Correspondence to Jungwon Yoon.

Additional information

Recommended by Associate Editor Changchun Hua under the direction of Editor Fuchun Sun. This work was supported by the National Research Foundation Korea (NRF) (2014R1A2A1A11053989 & 2017R1A2B4011704) and Dual Use Technology Program of Civil and Military.

Hamed Jabbari Asl received the Ph.D. in Electrical Engineering in 2013 from Iran University of Science and Technology. In 2011-2012 he was a visiting scholar at the Dipartimento di Informatica e Sistemistica, Universita di Roma “La Sapienza”, and in 2015–2016 he was a Senior Researcher at Robots & Intelligent Systems Lab, Gyeongsang National University. Currently, he is postdoctoral fellow at Toyota Technological Institute. His research interests include robot-aided rehabilitation, and nonlinear control applications.

Jungwon Yoon received the Ph.D. degree in the Department of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, Korea, in 2005. He was a Senior Researcher in Electronics Telecommunication Research Institute (ETRI), Daejeon, Korea. From 2001 to 2002, he was a Visiting Researcher at Virtual Reality Lab, Rutgers University, Piscataway, NJ, USA, and was a Visiting Fellow at Functional and Applied Biomechanics Section, Rehabilitation Medicine of Department, Clinical Center, National Institutes of Health, Bethesda, MD, USA, from 2010 to 2011. From 2005 to 2017, he was a professor in the School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Korea. In 2017, he joined the School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea, where he is currently an Associate Professor. His current research interests include bio-nano robot control, virtual reality haptic devices, and rehabilitation robots. He has authored or coauthored more than 70 peer-reviewed journal articles and patents.

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Asl, H.J., Yoon, J. Stable assist-as-needed controller design for a planar cable-driven robotic system. Int. J. Control Autom. Syst. 15, 2871–2882 (2017). https://doi.org/10.1007/s12555-016-0492-x

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