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Impedance Control of a Knee Rehabilitation Exoskeleton Using Robust Adaptive Control

Torabi, Mansour | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46734 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. The present study deals with designing controller for Therapeutic Exercise Robots which belongs to larger group namely Rehabilitation robots. Therapeutic exercise robots are often realized in shape of exoskeleton robots. The main line of present research is involved with, designing controller for lower limb therapeutic exercise robots and offering and implementing technical rehabilitation ideas. Firstly, in order to have a reliable position-control, considering practical limitations (e.g. system uncertainties), a robust adaptive control has been designed. Adaptive control can deals with parameters uncertainties and covering unstructured uncertainties (e.g. disturbance and noise) can be handled by robust control. In otter loop of control scheme, an admittance model has been utilized in order to realizing rehabilitations exercises. In first step, five working mode has been defined for one-DOF robot (Knee exercise machine), so that a therapist can have technical tools to prescribe rehabilitation exercises according to patient's health status. Thereafter, some rehabilitation ideas extended to two-DOF (Hip and Knee joints) therapeutic exercise robot. In the final step, a neuromusculoskeletal model of Knee has been developed to simulate muscle reflex/spasm with a view to more insight into evaluation of robot functionality. Simulating occurrence of muscle spasms during exercising with robot leads to the idea adapting stiffness in admittance model (sixth working mode). As a result, robot in sixth working mode can significantly reduce interaction force during muscle spasms. So present control scheme can make designed robot be suitable for using by people with potential of muscle spasms
  9. Keywords:
  10. Impedance Control ; Robust Adaptive Controller ; Rehabilitation Robots ; Therapeutic Exercise Robot ; Rehabilitation Exercises ; Neuromusculoskeletal Model

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