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Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

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Abstract

Pneumatic muscle is a new type of flexible actuator with advantages in terms of light weight, large output power/weight ratio, good security, low price and clean. In this paper, an ankle rehabilitation robot with two degrees of freedom driven by pneumatic muscle is studied. The force control method with an impedance controller in outer loop and a position inner loop is proposed. The demand of rehabilitation torque is ensured through tracking forces of three pneumatic muscle actuators. In the simulation, the constant force and variable force are tracked with error less than 10 N. In the experiment, the force control method also achieved satisfactory results, which provides a good support for the application of the robot in the ankle rehabilitation.

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Acknowledgments

This research is supported by National Natural Science Foundation of China under grants No. 51675389, 51475342.

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Authors and Affiliations

  1. School of Information Engineering, Wuhan University of Technology, Wuhan, 430070, China

    Chi Zhang, Jiwei Hu, Qingsong Ai, Wei Meng & Quan Liu

  2. Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Wuhan University of Technology, Ministry of Education, Wuhan, 430070, China

    Chi Zhang, Jiwei Hu, Qingsong Ai, Wei Meng & Quan Liu

Authors
  1. Chi Zhang
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  2. Jiwei Hu
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  3. Qingsong Ai
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  4. Wei Meng
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  5. Quan Liu
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Corresponding author

Correspondence to Qingsong Ai .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Zhang, C., Hu, J., Ai, Q., Meng, W., Liu, Q. (2017). Impedance Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_29

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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