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RLSESN‐based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM‐TS actuators

Jun Wu (Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China)
Jian Huang (Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China)
Yongji Wang (Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China)
Kexin Xing (Key Laboratory of Image Processing and Intelligent Control, Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, China)

International Journal of Intelligent Computing and Cybernetics

ISSN: 1756-378X

Article publication date: 23 March 2012

Abstract

Purpose

The purpose of this paper is to develop a novel wearable rehabilitation robotic hand driven by Pneumatic Muscle‐Torsion Spring (PM‐TS) for finger therapy. PM has complex nonlinear dynamics, which makes PM modelling difficult. To realize high‐accurate tracking for the robotic hand, an Echo State Network (ESN)‐based PID adaptive controller is proposed, even though the plant model is unknown.

Design/methodology/approach

To drive a single joint of rehabilitation robotic hand, the paper proposes a new PM‐TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Based on the novel actuator, a wearable robotic hand is designed. By employing the model‐free approximation capability of ESN, the RLSESN based PID adaptive controller is presented for improving the trajectory tracking performance of the rehabilitation robotic hand. An ESN together with Recursive Least Square (RLS) is called a RLSESN, where the ESN output weight matrix is updated by the online RLS learning algorithm.

Findings

Practical experiments demonstrate the validity of the PM‐TS actuator and indicate that the performance of the RLSESN based PID adaptive controller is better than that of the conventional PID controller. In addition, they also verify the effectiveness of the proposed rehabilitation robotic hand.

Originality/value

A new PM‐TS actuator configuration that uses a PM and a torsion spring for bi‐directional movement of joint is presented. By utilizing the new PM‐TS actuator, a novel wearable rehabilitation robotic hand for finger therapy is designed. Based on the unknown plant model, the RLSESN_PID controller is proposed to attain satisfactory performance.

Keywords

Citation

Wu, J., Huang, J., Wang, Y. and Xing, K. (2012), "RLSESN‐based PID adaptive control for a novel wearable rehabilitation robotic hand driven by PM‐TS actuators", International Journal of Intelligent Computing and Cybernetics, Vol. 5 No. 1, pp. 91-110. https://doi.org/10.1108/17563781211208242

Publisher

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Emerald Group Publishing Limited

Copyright © 2012, Emerald Group Publishing Limited