Design computed torque control for Stewart platform with uncertainty to the rehabilitation of patients with leg disabilities

Elyad Khanbabayi and Mohammad-Reza Sayyed Noorani

Computer Methods in Biomechanics and Biomedical Engineering, 2024, vol. 27, issue 8, 1028-1041

Abstract: Physiotherapy is a treatment that may be required permanently by many patients. As a result, a robot that can execute physiotherapy exercises for the legs like a professional therapist with adequate performance and acceptable safety may be efficient and widely used. In this study, a robust control system for a Stewart platform with six degrees of freedom is provided. First, the Newton-Euler approach is used in conjunction with a methodology and some simplification tools to achieve explicit dynamics formulation for the Stewart platform. For the primary application of this research, which is to follow the specified trajectory of ankle rehabilitation, computed torque control law (CTCL) and polynomial chaos expansion (PCE) were used to examine and consider any uncertainty in geometric and physical parameters. In fact, this strategy integrated the uncertainties with CTCL using PCE. The suggested PCE-based CTCL eliminates the system’s nonlinearity by applying feedback linearization to evaluate generalized driving forces; hence, the nondeterministic multi-body system follows the desired direction. Uncertainties in the patient’s foot as well as the main diameter parameters of the moment of inertia of the upper platform of the Stewart robot with various uniform, beta, and normal distributions, have been analyzed. The PCE technique’s results were compared to the Monte Carlo method’s outcomes, and the strengths and weaknesses of each method were investigated. In brief, the PCE method operated far better than the Monte Carlo (MC) method in speed, accuracy, and numerical volume.

Date: 2024
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/10255842.2023.2222863 (text/html)
Access to full text is restricted to subscribers.

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:taf:gcmbxx:v:27:y:2024:i:8:p:1028-1041

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/gcmb20

DOI: 10.1080/10255842.2023.2222863

Access Statistics for this article

Computer Methods in Biomechanics and Biomedical Engineering is currently edited by Director of Biomaterials John Middleton

More articles in Computer Methods in Biomechanics and Biomedical Engineering from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().