A rehabilitation robot with force-position hybrid fuzzy controller: Hybrid fuzzy control of rehabilitation robot

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Volumn 13, Issue 3, 2005, Pages 349-358

  Ju, Ming Shaung ^a,c   Lin, Chou Ching K ^b   Lin, Dong Huang ^a   Hwang, Ing Shiou ^b   Chen, Shu Min ^b  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

^b NATIONAL CHENG KUNG UNIVERSITY HOSPITAL   (Taiwan)

^c Man Machine System Committee   (Taiwan)

Author keywords

Fuzzy control; Hybrid position force control; Rehabilitation robot

Indexed keywords

HYBRID POSITION; LIMBS; NEUROMUSCULAR DISORDERS; REHABILITATION ROBOTS;

DATA REDUCTION; FORCE CONTROL; FUZZY CONTROL; HUMAN REHABILITATION EQUIPMENT;

ROBOTS;

ARM; ARTICLE; COMPUTER PROGRAM; FORCE; FORCE POSITION HYBRID FUZZY CONTROLLER; HUMAN; MOVEMENT (PHYSIOLOGY); NEUROMUSCULAR DISEASE; PERFORMANCE; PRIORITY JOURNAL; ROBOTICS;

COMPUTER-AIDED DESIGN; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; FEEDBACK; FUZZY LOGIC; HUMANS; MOVEMENT DISORDERS; ROBOTICS; STRESS, MECHANICAL; THERAPY, COMPUTER-ASSISTED;

EID: 26244435114     PISSN: 15344320     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNSRE.2005.847354     Document Type: Article

References (26)

1. T. Noritsugu and T. Tanaka, "Application of rubber artificial muscle manipulator as a rehabilitation robot," IEEE/ASME Trans. Mechatronics, vol. 2, no. 4, pp. 259-267, Dec. 1997.
2. H. I. Krebs, N. Hogan, M. L. Aisen, and B. T. Volpe, "Robot-aided neurorehabilitation," IEEE Trans. Rehab. Eng., vol. 6, no. 1, pp. 75-87, Mar. 1998.
3. M.-S. Ju, C.-C. K. Lin, J.-R. Chen, H.-S. Cheng, and C.-W. Lin, "Performance of elbow tracking under constant torque disturbance in stroke patients and normal subjects," Clinical Biomech., vol. 17, pp. 640-649, 2002.
4. J. A. Cozens, "Robotic assistance of an active upper limb exercise in neurological impaired patients," IEEE Tran. Rehab. Eng., vol. 7, no. 4, pp. 254-256, Jun. 1999.
5. D. Reinkensmeyer, C. Takahashi, and W. Timoszyk, "Evaluation of an assistive controller for reaching following brain injury," in Proc. 1st Joint BMES/EMBS Conf., 1999, p. 631.
6. M. H. Raibert and J. J. Craig, "Hybrid position/force control of manipulators," Trans. ASME J. Dyn. Syst., Meas. Control, vol. 102, pp. 126-133, 1981.
7. H. Suh, J. H. Hong, S.-R. Oh, and K. B. Kim, "Fuzzy rule based position/force control of industrial manipulators," in Proc. IEEE/RSJ Int. Workshop Intelligent Robots Syst., vol. 3, Nov. 3-5, 1991, pp. 1617-1622.
8. P. S. Lum, C. G. Burgar, P. C. Shor, M. Majmundar, and H. F. M. Van der Loos, "Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke," Arch. Phys. Med. Rehab., vol. 83, no. 7, pp. 952-959, 2002.
9. C. G. Burgar, P. S. Lum, P. Shor, and H. F. M. Van der Loos, "Development of robots for rehabilitation therapy: The Palo Alto VA/Standard experience," J. Rehabil. Res. Develop., vol. 37, no. 6, pp. 663-673, 2000.
10. L.-X. Wang, Adaptive Fuzzy Systems and Control: Design and Stability Analysis. Englewood Cliffs, NJ: Prentice Hall, 1994.
11. W. J. Rugh, "Analytical framework for gain scheduling," IEEE Control Syst. Mag., pp. 79-84, 1991.
12. S. H. Lee, S. G. Kim, and J. T. Lim, "Fuzzy-logic-based fast gain-scheduling control for nonlinear suspension systems," IEEE Trans. Ind. Electron., vol. 45, no. 6, pp. 953-955, Dec. 1998.
13. K. Tanaka and H. O. Wang, Fuzzy Control Systems Design and Analysis. New York: Wiley, 2001.
14. A.-A. S. Ibrahim, "Nonlinear PID controller design using fuzzy logic," in IEEE MELECON 2002, Cairo, Egypt, May 7-9, 2002.
15. U.-C. Moon and K. Y. Lee, "Hybrid algorithm with fuzzy system and conventional PI control for the temperature control of TV glass furnace," IEEE Trans. Control Syst. Technol., vol. 11, no. 4, pp. 548-554, Jul. 2003.
16. J. Deskur, R. Muszynski, and D. Sarnowski, "Tuning and investigation of combined fuzzy controller," in Proc. 7th Int. Conf. Power Electron. Variable Speed Drives, Sep. 21-23, 1998.
17. M. S. Ju, S. H. Yi, Y. G. Tsuei, and Y. L. Chou, "Fuzzy control of electrohydraulic above-knee prostheses," JSME Int. J., ser. C, vol. 38, pp. 78-86, 1995.
18. M. S. Ju and D. L. Yang, "Design of adaptive fuzzy controls based on natural control laws," Fuzzy Sets Syst., vol. 81, pp. 191-204, 1995.
19. J. J. J. Chen, Y. N. Yu, D. G. Hung, B. T. Ann, and G. C. Chang, "Applying fuzzy logic to control of cycling movement induced by functional electrical stimulation," IEEE Trans. Rehabil. Eng., vol. 5, pp. 158-169, 1997.
20. H. Asada and K. Youcef-Toumi, "Analysis and design of a direct-drive arm with a five- bar-link parallel drive mechanism," Trans. ASME J. Dyn. Syst. Meas. Control, vol. 106, pp. 255-230, Sep. 1984.
21. S. M. Phillips and K. R. Ballou, "Friction modeling and compensation for an industrial robot," J. Robot Syst., vol. 10, pp. 947-971, 1993.
22. Z. Lu, K. B. Shimoga, and A. A. Goldenberg, "Experimental determination of dynamic parameters of robotic arms," J. Robot Syst., vol. 10, pp. 1009-1029, 1993.
23. C. C. Lee, "Fuzzy logic in control systems: Fuzzy logic controller-Part 1," IEEE Trans Syst. Man Cybern., vol. 20, no. 2, pp. 402-417, Man/Apr. 1990.
24. Z. Y. Chou, "Contact force control in soft boundary condition," M.S. thesis (in Chinese), Nat. Yung-Lin Technol. College, Dept. Mech. Eng. Technol., Toliu, Taiwan, 1997.
25. J. Aracil and F. Gordillo, "Describing function method for stability analysis of PD and PI fuzzy controllers," Fuzzy Sets Syst., vol. 143, pp. 233-249, 2004.
26. T. Yoshikawa, Foundations of Robotics: Analysis and Control. Cambridge, MA: MIT Press, 1990.