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Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device

文献类型：期刊论文

作者Li, Houcheng2,3; Cheng, Long2,3; Li, Zhengwei2,3; Xue, Wenchao1
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2021-04-01
卷号26期号:2页码:841-853
关键词Actuators Exoskeletons Performance evaluation Training IEEE transactions Mechatronics Active disturbance rejection control extended state observer extension motion hand rehabilitation parameter selection transient steady-state performance
ISSN号1083-4435
DOI10.1109/TMECH.2020.3006364
英文摘要This article proposes a new hand rehabilitation device to help therapists repetitively perform hand group stretching training for poststroke patients. The actuator of the proposed device is made of elastomeric materials, driven by fluid pressure, and put onto the surface of a glove. Compared to the traditional rigid exoskeletons for hand rehabilitation, the proposed device is soft, lightweight, and low cost. Because the exact and explicit model is hard to be built for the proposed device and the unconscious tremors occurred during hand rehabilitation, the active disturbance rejection control (ADRC) algorithm, based on the extended state observer (ESO), is adopted to achieve the control purpose. This article analyzes the transient and steady-state performances of the controller based on some reasonable assumptions, and shows its better disturbance rejection ability compared to the widely used proportional-integral-differential control method. In addition, the ADRC algorithm with the reduced-order extended state observer (RESO) has been studied as well. The parameters of the RESO can be obtained by the parameters of the previously determined ESO instead of the trial and error approach, which can ensure the control performance of the ADRC with the RESO does not degrade. Finally, clinical tests have been conducted to verify the functional correctness of the proposed device, and these theoretical results have also been verified by experiments and comparisons.
资助项目Beijing Natural Science Foundation[JQ19020] ; Beijing Natural Science Foundation[L182060] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873268]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000641987800024
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
源URL[http://ir.amss.ac.cn/handle/2S8OKBNM/58611]  
专题中国科学院数学与系统科学研究院
通讯作者Cheng, Long
作者单位1.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Li, Houcheng,Cheng, Long,Li, Zhengwei,et al. Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021,26(2):841-853.
APA Li, Houcheng,Cheng, Long,Li, Zhengwei,&Xue, Wenchao.(2021).Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device.IEEE-ASME TRANSACTIONS ON MECHATRONICS,26(2),841-853.
MLA Li, Houcheng,et al."Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device".IEEE-ASME TRANSACTIONS ON MECHATRONICS 26.2(2021):841-853.

入库方式： OAI收割

来源：数学与系统科学研究院

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