Design and control of a wearable hand rehabilitation robot

doi:10.1109/ACCESS.2018.2884451

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Design and control of a wearable hand rehabilitation robot
	Long Cheng; Miao Chen; Zhengwei Li
刊名	IEEE Access
	2018
卷号	6 页码:74039 - 74050
关键词	Hand rehabilitation exoskeleton cable-driven modularized structure active disturbance rejection controller (ADRC) iterative learning control (ILC)
DOI	10.1109/ACCESS.2018.2884451
英文摘要	This paper proposes a wearable hand rehabilitation robot for assisting patients to do rehabilitation training such as the flexion and extension of fingers. This robot prototype has a modularized structure with nine degrees of freedom for the independent control of the patient’s fingers. To alleviate the weight applied on the patient’s hand and arm, the entire control system is placed in the patient’s backpack and the cable-driven approach is employed to achieve the long-distance power transmission. Because of the repetitive training manner and the existence of external disturbances, a controller combining the iterative learning control (ILC) and the active disturbance rejection control (ADRC) has been proposed for the control of the finger’s joints. The contributions of this paper lie in the robot’s modularized structure design and the proposed “ILC + ADRC” controller. Experimental results have verified the function of the proposed robot and demonstrated the satisfactory control performance achieved by the proposed controller.
WOS记录号	WOS:000454259000001
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/23166]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
推荐引用方式 GB/T 7714	Long Cheng,Miao Chen,Zhengwei Li. Design and control of a wearable hand rehabilitation robot[J]. IEEE Access,2018,6:74039 - 74050.
APA	Long Cheng,Miao Chen,&Zhengwei Li.(2018).Design and control of a wearable hand rehabilitation robot.IEEE Access,6,74039 - 74050.
MLA	Long Cheng,et al."Design and control of a wearable hand rehabilitation robot".IEEE Access 6(2018):74039 - 74050.