Position Tracking of a Pneumatic-Muscle-Driven Rehabilitation Robot by a Single Neuron Tuned PID Controller

Jun Zhong, Yue Zhu, Chun Zhao, Zhenfeng Han and Xin Zhang

Complexity, 2020, vol. 2020, 1-9

Abstract:

Pneumatic muscle actuators (PMAs) own compliant characteristics and are suitable for use in rehabilitation equipment. This paper introduces a rehabilitation robot driven by PMAs devised in the Rehabilitation and Medical Robot Laboratory. Considering high nonlinearities inside PMAs, a single neuron tuned PID controller is carefully designed. Experimental setup is built up and trials are performed. Results demonstrate the proposed advanced PID algorithm can achieve better capacity in position tracking than the conventional PID controller.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/8503/2020/1438391.pdf (application/pdf)
http://downloads.hindawi.com/journals/8503/2020/1438391.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:1438391

DOI: 10.1155/2020/1438391

Access Statistics for this article

More articles in Complexity from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().