Ankle rehabilitation research on position control using pneumatic artificial muscles

Zili Xu; Zhiyang Lin; Sijia Gu; Xiaowei Xie

doi:10.1117/12.3014748

4 March 2024 Ankle rehabilitation research on position control using pneumatic artificial muscles

Zili Xu, Zhiyang Lin, Sijia Gu, Xiaowei Xie

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 129815K (2024) https://doi.org/10.1117/12.3014748
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

Pneumatic artificial muscles (PAMs) were used to power a tandem ankle rehabilitation mechanism with two degrees of freedom that mimics the structure and action of a human ankle joint. Based on a genetic optimization algorithm, a single PAM mathematical model was developed, and the kinematics and dynamics of the ankle rehabilitation mechanism were modeled. The RBF-PID controller was created by combining the PID control and RBF neural network algorithms and was utilized in models for the ankle rehabilitation mechanism's position control system. According to the simulation experiment results, the RBF neural network-based PID controller outperformed the PID controller noticeably in terms of response time and control precision and can adaptively adjust the PID parameters.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zili Xu, Zhiyang Lin, Sijia Gu, and Xiaowei Xie "Ankle rehabilitation research on position control using pneumatic artificial muscles", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 129815K (4 March 2024); https://doi.org/10.1117/12.3014748

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