Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force Distribution Article Swipe
Mingming Zhang
,
Andrew McDaid
,
Allan J. Veale
,
Yuxin Peng
,
Sheng Quan Xie
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/access.2019.2925182
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1109/access.2019.2925182
This paper proposes an adaptive trajectory tracking control strategy implemented on a parallel ankle rehabilitation robot with joint-space force distribution. This device is redundantly actuated by four pneumatic muscles (PMs) with three rotational degrees of freedom. Accurate trajectory tracking is achieved through a cascade controller with the position feedback in task space and force feedback in joint space, which enhances training safety by controlling each PM to be in tension in an appropriate level. At a high level, an adaptive algorithm is proposed to enable movement intention-directed trajectory adaptation. This can further help to improve training safety and encourage human-robot engagement. The pilot tests were conducted with an injured human ankle. The statistical data show that normalized root mean square deviation (NRMSD) values of trajectory tracking are all less than 2.3% and the PM force tracking being always controlled in tension, demonstrating its potential in assisting ankle therapy.
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- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2019.2925182
- https://ieeexplore.ieee.org/ielx7/6287639/8600701/08746244.pdf
- OA Status
- gold
- Cited By
- 54
- References
- 33
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2955061942
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Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2955061942Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/access.2019.2925182Digital Object Identifier
- Title
-
Adaptive Trajectory Tracking Control of a Parallel Ankle Rehabilitation Robot With Joint-Space Force DistributionWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-01-01Full publication date if available
- Authors
-
Mingming Zhang, Andrew McDaid, Allan J. Veale, Yuxin Peng, Sheng Quan XieList of authors in order
- Landing page
-
https://doi.org/10.1109/access.2019.2925182Publisher landing page
- PDF URL
-
https://ieeexplore.ieee.org/ielx7/6287639/8600701/08746244.pdfDirect link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://ieeexplore.ieee.org/ielx7/6287639/8600701/08746244.pdfDirect OA link when available
- Concepts
-
Trajectory, Control theory (sociology), Computer science, Tracking (education), Robot, Controller (irrigation), Ankle, Simulation, Artificial intelligence, Control (management), Physics, Psychology, Biology, Pathology, Astronomy, Pedagogy, Agronomy, MedicineTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
54Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 6, 2024: 5, 2023: 9, 2022: 8, 2021: 10Per-year citation counts (last 5 years)
- References (count)
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33Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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