This paper firstly summarizes a newly developed knee joint mechanism of a gait rehabilitation robot, as well as a modified dynamics model for pneumatic muscle actuators (PMAs). The major sections focus on the development of single-input-single-output sliding mode trajectory tracking controller for the knee mechanism. The sliding mode controller takes the models of the whole system, which include the pneumatic flow dynamics of the analogue valves and PMAs, dynamic model of the PMAs and dynamics of the mechanism, into account. It controls the voltage applied to the valves to track desired angular trajectories of the knee joint. The preliminary experiments on the sliding mode controller have been conducted and the results have indicated that the knee mechanism’s successful tracking of sinusoidal waves with frequencies and magnitudes closed to actual human gait. Currently, the researchers are working on the development of multi-inputs-multi-outputs control of the mechanism for both trajectory tracking and compliance adjustments.
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ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 2–5, 2015
Boston, Massachusetts, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5719-9
PROCEEDINGS PAPER
Sliding Mode Control of an Exoskeleton Gait Rehabilitation Robot Driven by Pneumatic Muscle Actuators
Jinghui Cao,
Jinghui Cao
The University of Auckland, Auckland, New Zealand
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Sheng Quan Xie,
Sheng Quan Xie
The University of Auckland, Auckland, New Zealand
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Andrew McDaid,
Andrew McDaid
The University of Auckland, Auckland, New Zealand
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Raj Das
Raj Das
The University of Auckland, Auckland, New Zealand
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Jinghui Cao
The University of Auckland, Auckland, New Zealand
Sheng Quan Xie
The University of Auckland, Auckland, New Zealand
Andrew McDaid
The University of Auckland, Auckland, New Zealand
Raj Das
The University of Auckland, Auckland, New Zealand
Paper No:
DETC2015-46281, V009T07A002; 8 pages
Published Online:
January 19, 2016
Citation
Cao, J, Xie, SQ, McDaid, A, & Das, R. "Sliding Mode Control of an Exoskeleton Gait Rehabilitation Robot Driven by Pneumatic Muscle Actuators." Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Boston, Massachusetts, USA. August 2–5, 2015. V009T07A002. ASME. https://doi.org/10.1115/DETC2015-46281
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