亲爱的研友该休息了!由于当前在线用户较少,发布求助请尽量完整的填写文献信息,科研通机器人24小时在线,伴您度过漫漫科研夜!身体可是革命的本钱,早点休息,好梦!

Saturated Sliding Mode Control Scheme for a New Wearable Back-Support Exoskeleton

外骨骼 控制理论(社会学) 控制器(灌溉) 弹道 接口 扭矩 计算机科学 工程类 滑模控制 Lyapunov稳定性 控制工程 模拟 非线性系统 控制(管理) 人工智能 物理 天文 热力学 生物 量子力学 计算机硬件 农学
作者
Xiaogang Li,Chao Hou,Jiang He
出处
期刊:IEEE Transactions on Automation Science and Engineering [Institute of Electrical and Electronics Engineers]
卷期号:: 1-14
标识
DOI:10.1109/tase.2023.3241619
摘要

Low back pain has been torturing people around the world as a common and chronic disease, the main inducement of which is lumbar disc herniation (LDH). To alleviate patients’ pain noninvasively, this paper proposes a new lumbar spinal rehabilitation exoskeleton. This exoskeleton is composed of two bands connected by four motor-driven piston pushrods, where the range of band can be adjusted to adapt to people with different waistlines. The four pushrods provide support forces to hold the upper body to relieve the burden of lumbar. The joints between pushrods and band are universal pairs and spherical pairs. The whole structure can be regarded as a parallel robot, thus the supporting and waist tracking performance can be determined by motion control effect of pushrods. Considering the motor torque of pushrods is limited, in this paper, a saturated sliding mode control scheme is proposed. Meanwhile, an extended state observer (ESO) is employed to estimate the external disturbance and internal uncertainties, then the estimates of perturbations will be compensated by the feedback scheme. Furthermore, to enhance the disturbance-tracking performance of the ESO an integrated sliding mode observer is proposed to compensate the tracking errors of ESO. The stabilities of controller and observers are proved by Lyapunov stability theory. Finally, a simulation and two experiments are conducted to verify the performance of the proposed controller and the new exoskeleton. The simulation results show that the novel/new controller can drive the new exoskeleton to move along with the desirable trajectory to support the upper body so that alleviating the burden of waist. The results of myoelectricity experiments also show favorable effectiveness of exoskeleton on supporting upper body in different postures. Note to Practitioners —this article was inspired by the concerns of low back pain that many people are suffering. Most existing rehabilitation robots tend to focus on supporting lower body and arms, while back-support rehabilitation robots are barely seen. Although we can see a few upper-body supporting robots in sporadic papers, these studies have not proposed a good control scheme yet. Besides, it is difficult to find a rehabilitation robot with simple structure as well as conforming to ergonomics. To resolve the shortcomings of the structure of existing robots and control models, we proposed a completely new rehabilitation robot with novel mechanical structure. Meanwhile, a new saturated sliding mode and novel integrated observer are employed in the position-force control system to enhance the stability and controllability of the whole robot control system. Then, some elaborately designed experiments are conducted to test the proposed robot and the control system. Numerical results demonstrate that the proposed method can significantly increase the trajectory tracking performance and alleviate low back pain.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
大幅提高文件上传限制,最高150M (2024-4-1)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
2秒前
无语发布了新的文献求助10
7秒前
12秒前
xpqiu完成签到,获得积分10
21秒前
38秒前
无语完成签到,获得积分20
44秒前
Sooinlee完成签到,获得积分10
52秒前
1分钟前
阿明发布了新的文献求助10
1分钟前
Nancy0818完成签到 ,获得积分10
1分钟前
Tirachen完成签到,获得积分10
1分钟前
Tirachen发布了新的文献求助10
1分钟前
情怀应助后会无期采纳,获得10
2分钟前
2分钟前
动听乐萱发布了新的文献求助10
2分钟前
科目三应助动听乐萱采纳,获得10
2分钟前
2分钟前
后会无期发布了新的文献求助10
2分钟前
wizardz完成签到 ,获得积分10
3分钟前
3分钟前
陌路完成签到,获得积分10
3分钟前
科研搬运工完成签到,获得积分10
3分钟前
陌路发布了新的文献求助10
3分钟前
CATH完成签到 ,获得积分10
3分钟前
3分钟前
4分钟前
zzz2193发布了新的文献求助10
4分钟前
华仔应助后会无期采纳,获得10
4分钟前
城南烤地瓜完成签到 ,获得积分10
4分钟前
4分钟前
4分钟前
iehaoang完成签到 ,获得积分10
4分钟前
4分钟前
zzz完成签到 ,获得积分10
4分钟前
动听乐萱发布了新的文献求助10
5分钟前
Erin完成签到 ,获得积分10
5分钟前
彭于晏应助阿明采纳,获得10
5分钟前
Artin发布了新的文献求助100
5分钟前
香蕉觅云应助科研通管家采纳,获得10
5分钟前
动听乐萱完成签到,获得积分20
5分钟前
高分求助中
Sustainability in Tides Chemistry 1500
TM 5-855-1(Fundamentals of protective design for conventional weapons) 1000
Gerard de Lairesse : an artist between stage and studio 500
Digging and Dealing in Eighteenth-Century Rome 500
Queer Politics in Times of New Authoritarianisms: Popular Culture in South Asia 500
Livre et militantisme : La Cité éditeur 1958-1967 500
Retention of title in secured transactions law from a creditor's perspective: A comparative analysis of selected (non-)functional approaches 500
热门求助领域 (近24小时)
化学 医学 生物 材料科学 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 基因 遗传学 催化作用 物理化学 免疫学 量子力学 细胞生物学
热门帖子
关注 科研通微信公众号,转发送积分 3062985
求助须知:如何正确求助?哪些是违规求助? 2717920
关于积分的说明 7456576
捐赠科研通 2364178
什么是DOI,文献DOI怎么找? 1253324
科研通“疑难数据库(出版商)”最低求助积分说明 608499
版权声明 596552