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Dynamic Model Identification of PAM-Based Rehabilitation Robot Using Neural MIMO NARX Model

  • Ho Pham Huy Anh
  • Le Tan Loi
Conference paper
Part of the IFMBE Proceedings book series (IFMBE, volume 27)

Abstract

In this paper, a novel Forward Dynamic MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm’s forward dynamic model. The contact force variation and highly nonlinear cross effect of both links of the 2-axes PAM robot arm are modeled thoroughly through a Forward Neural MIMO NARX Model-based identification process using experiment input-output training data. Consequently the proposed Forward Dynamic Neural MIMO NARX model scheme of the nonlinear 2-axes PAM robot arm has been investigated. The results show that the novel Forward Dynamic Neural MIMO NARX Model trained by Back Propagation learning algorithm yields outstanding performance and perfect accuracy.

Keywords

Rehabilitation Robot Modeling Neural MIMO NARX Model Forward Dynamic Identification 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Ho Pham Huy Anh
    • 2
  • Le Tan Loi
    • 1
  1. 1.Nguyen Trai HospitalHCM CityViet Nam
  2. 2.Ho Chi Minh City University of TechnologyViet Nam

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