Wireless PID-Based Control for a Single-Legged Rehabilitation Exoskeleton

被引:0
作者
Andersson, Rabe [1 ]
Cronhjort, Mikael [1 ]
Chilo, Jose [1 ]
机构
[1] Univ Gavle, Dept Elect Engn Math & Sci, S-80176 Gavle, Sweden
关键词
rehabilitation exoskeleton; PID control; AnyBody simulation; IMU sensors; hip joint trajectory; Bluetooth communication; SYSTEMS;
D O I
10.3390/machines12110745
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
The demand for remote rehabilitation is increasing, opening up convenient and effective home-based therapy for the sick and elderly. In this study, we use AnyBody simulations to analyze muscle activity and determine key parameters for designing a rehabilitation exoskeleton, as well as selecting the appropriate motor torque to assist patients during rehabilitation sessions. The exoskeleton was designed with a PID control mechanism for the precise management of motor positions and joint torques, and it operates in both automated and teleoperation modes. Hip and knee movements are monitored via smartphone-based IMU sensors, enabling real-time feedback. Bluetooth communication ensures seamless control during various training scenarios. Our study demonstrates that remotely controlled rehabilitation systems can be implemented effectively, offering vital support not only during global health crises such as pandemics but also in improving the accessibility of rehabilitation services in remote or underserved areas. This approach has the potential to transform the way physical therapy can be delivered, making it more accessible and adaptable to the needs of a larger patient population.
引用
收藏
页数:26
相关论文
共 39 条
  • [31] Human-centered active torque-based AAN impedance control for lower limb patient-exoskeleton coupling system in the rehabilitation
    Wang, Yu
    Guo, Yida
    Tao, Yizhou
    Tian, Yang
    Wang, Haoping
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2023,
  • [32] Research on compliant human-robot interaction based on admittance control strategy for shoulder rehabilitation exoskeleton with CGH self-alignment function
    Shen, Huimin
    Liu, Xuanmin
    Liu, Kangming
    Yao, Yao
    Weng, Xin
    Yang, Lihong
    [J]. INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2024, 8 (03) : 692 - 708
  • [33] Nonlinear-Observer-Based Neural Fault-Tolerant Control for a Rehabilitation Exoskeleton Joint with Electro-Hydraulic Actuator and Error Constraint
    Song, Changlin
    Yang, Yong
    [J]. APPLIED SCIENCES-BASEL, 2023, 13 (14):
  • [34] Fractional order PID-based adaptive fault-tolerant cooperative control of networked unmanned aerial vehicles against actuator faults and wind effects with hardware-in-the-loop experimental validation
    Yu, Ziquan
    Zhang, Youmin
    Jiang, Bin
    Su, Chun-Yi
    Fu, Jun
    Jin, Ying
    Chai, Tianyou
    [J]. CONTROL ENGINEERING PRACTICE, 2021, 114
  • [35] An Improved Single Neuron Adaptive PID Controller System Based on Additional Error of an Inversed-Control Signal
    Kusumoputro, Benyamin
    Rif'an, Muhammad
    [J]. ADVANCED SCIENCE LETTERS, 2016, 22 (10) : 2666 - 2670
  • [36] Digital Single-phase Thyristor AC Voltage Regulator Research Based on Fuzzy PID and APF Control
    Li, Fengxiang
    Chuan, Gu
    [J]. ADVANCED RESEARCH ON ENGINEERING MATERIALS, ENERGY, MANAGEMENT AND CONTROL, PTS 1 AND 2, 2012, 424-425 : 1262 - 1265
  • [37] A Smooth Angle Velocity Active Return-to-Centre Control Based on Single Neuron PID Control for Electric Power Steering System
    Wu, Yangfei
    Hou, Bochuan
    Zhou, Guangfei
    Yang, Jianhua
    Jun, Fang
    Zhang, Yuming
    [J]. PROCEEDINGS OF THE 32ND 2020 CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2020), 2020, : 3945 - 3950
  • [38] Single-Neuron PID UAV Variable Fertilizer Application Control System Based on a Weighted Coefficient Learning Correction
    Su, Dongxu
    Yao, Weixiang
    Yu, Fenghua
    Liu, Yihan
    Zheng, Ziyue
    Wang, Yulong
    Xu, Tongyu
    Chen, Chunling
    [J]. AGRICULTURE-BASEL, 2022, 12 (07):
  • [39] Fuzzy neural network and observer-based fault-tolerant adaptive nonlinear control of uncertain 5-DOF upper-limb exoskeleton robot for passive rehabilitation
    Mushage, Baraka Olivier
    Chedjou, Jean Chamberlain
    Kyamakya, Kyandoghere
    [J]. NONLINEAR DYNAMICS, 2017, 87 (03) : 2021 - 2037