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Robotic rehabilitation of the hands from a neuromuscular impairment such as stroke requires controllers that could provide subject-specific assistance and result in fastest possible recovery. We present two such assist-as-needed controllers for a hand exoskeleton called Maestro that is designed to provide accurate torque assistance to a subject. Learned force-field control is a novel control technique...
The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
In this paper, a novel method towards approaching perfect tracking performance in periodic motions for robotic joints with serial elastic actuators, is proposed. The method is in an adaptive feed-forward scheme which has the ability to learn the required controlling signal, leading to reduced tracking error. Ordinary learning feed-forward methods do not have the capability of learning frequency of...
This paper presents an Adaptive Nonlinear Model Predictive Controller for longitudinal motion of automated vehicles which incorporates advance information on future speed demand values, as well as on road grade changes. It is used in combination with a state and parameter estimator to adapt to a changing vehicle mass. This allows improved speed tracking capability for horizontal driving and steep...
This paper proposes a control algorithm for a Toyota gasoline engine problem that is addressed in a student competition format. The control objective is to minimize the fuel consumption while avoiding specified dangerous situations. The approach develops a feed-forward control based on an adaptive Iterative Learning Control. In this method, the plant is run several times and the controller iteratively...
This paper deals with the optimal tracking control of a spark ignited combustion engine. The overall controller consists of an (a priori given) feed-forward part that steers the system close to the desired trajectory and an optimal adaptive predictive controller for the tracking error dynamics. The latter is based on estimating a linear model along the desired trajectory online, which is then used...
The model-based approach in control engineering works well when a reliable plant model is available. However, in practice, reliable models seldom exist: instead, typical “levels” of limited reliability occur. For instance, Computed Torque Control (CTC) in robotics assumes almost perfect models. The Adaptive Inverse Dynamics Controller (AIDC) and the Slotine Li Adaptive Robot Controller (SLARC) assume...
Automation of neurologic rehabilitation becomes more important as the number of age correlated dysfunctions increases. Starting from existing Assist-As-Needed control schemes we designed new algorithms specifically for bilateral tasks. We propose three approaches for controlling an arm rehabilitation device that assists hemiparetic subjects. Design goals are 1) Users should use there healthy arm to...
Efficient control of strongly underactuated mechanical systems in which no practical means exist for developing observers to reveal the internal dynamic state of the system under control is a challenging task. In many practical cases it is even hopeless to develop an at least formally complete system model. For instance deformable robot arms may have infinitely many “degree of freedom” that -under...
This paper proposes an adaptive Neuro-Fuzzy control approach for controlling the link variables of a 4 degree-of-freedom Selective Compliant Assembly Robot Arm (SCARA) type robot arm / manipulator. In the real world environment, the mathematical models of many robots are often not accurate, due to the presence of continuous disturbances that effect their dynamic equations, in addition to errors in...
The paper concerns the control of a lower limb orthosis acting on the knee joint level. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. A model reference adaptive control law is developed and applied to the orthosis in order to make the system (shank-orthosis) track a desired trajectory predefined by a rehabilitation...
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