ADRC for Upper Limb Exoskeleton: A Simulation Study
Sumit Aole,Irraivan Elamvazuthi,Laxman Waghmare,Balasaheb M. Patre,Tushar V. Bhaskarwar,Tindyo Prasetyo +5 more
- 06 Aug 2022
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TL;DR: The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.
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Abstract: Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.
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Citations
Innovative Metaheuristic Optimization Approach with a Bi-Triad for Rehabilitation Exoskeletons
Deira Sosa Méndez,Cecilia E. García Cena,David Bedolla-Martínez,Antonio Martín González +3 more
- 30 Mar 2024
TL;DR: A metaheuristic optimization approach for the design and development of rehabilitation exoskeletons is presented. The methodology employs two cutting-edge triads and results in a lightweight robotic mechanism, a human–robot interface with three modes of operation, and a biomechanically viable kinematic model.
References
From PID to Active Disturbance Rejection Control
TL;DR: Active disturbance rejection control is proposed, which is motivated by the ever increasing demands from industry that requires the control technology to move beyond PID, and may very well break the hold of classical PID and enter a new era of innovations.
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Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Aaron M. Dollar,Hugh M. Herr +1 more
TL;DR: The history and state of the art of lower limb exoskeletons and active orthoses are reviewed and a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature are provided.
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Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
A.B. Zoss,H. Kazerooni,A. Chu +2 more
TL;DR: The Berkeley lower extremity exoskeleton (BLEEX) as mentioned in this paper has 7 DOF per leg, four of which are powered by linear hydraulic actuators, and the selection of the DOF, critical hardware design aspects and initial performance measurements of BLEEX are discussed.
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Active disturbance rejection control: a paradigm shift in feedback control system design
Zhiqiang Gao
- 14 Jun 2006
TL;DR: In this paper, it is shown that the unknown dynamics and disturbance can be actively estimated and compensated in real time and this makes the feedback control more robust and less dependent on the detailed mathematical model of the physical process.
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On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Homayoon Kazerooni,J.-L. Racine,Lihua Huang,Ryan Steger +3 more
- 18 Apr 2005
TL;DR: An overview of one of the control schemes developed here increases the closed loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal).