Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation

Chun Ta Chen; Wei Yuan Lien; Chun Ting Chen; Yu Cheng Wu

doi:10.3390/act9040106

Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation

Chun Ta Chen^*, Wei Yuan Lien, Chun Ting Chen, Yu Cheng Wu

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Article › peer-review

27 Citations (Scopus)

Abstract

Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

Original language	English
Article number	106
Pages (from-to)	1-19
Number of pages	19
Journal	Actuators
Volume	9
Issue number	4
DOIs	https://doi.org/10.3390/act9040106
Publication status	Published - 2020 Dec

Keywords

Exoskeleton robot
Fuzzy sliding mode control
Pneumatic muscle actuator
Rehabilitation

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization

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10.3390/act9040106

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title = "Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation",

abstract = "Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.",

keywords = "Exoskeleton robot, Fuzzy sliding mode control, Pneumatic muscle actuator, Rehabilitation",

author = "Chen, {Chun Ta} and Lien, {Wei Yuan} and Chen, {Chun Ting} and Wu, {Yu Cheng}",

note = "Funding Information: Funding: This research was funded by the Ministry of Science and Technology of Taiwan grant number MOST 107-2221-E-003-025, MOST 108-2221-E-003 -024 -MY3 and MOST 108-2321-B-027-001. Publisher Copyright: {\textcopyright} 2020 by the authors. Licensee MDPI, Basel, Switzerland.",

year = "2020",

month = dec,

doi = "10.3390/act9040106",

language = "English",

volume = "9",

pages = "1--19",

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AU - Chen, Chun Ta

AU - Lien, Wei Yuan

AU - Chen, Chun Ting

AU - Wu, Yu Cheng

N1 - Funding Information: Funding: This research was funded by the Ministry of Science and Technology of Taiwan grant number MOST 107-2221-E-003-025, MOST 108-2221-E-003 -024 -MY3 and MOST 108-2321-B-027-001. Publisher Copyright: © 2020 by the authors. Licensee MDPI, Basel, Switzerland.

PY - 2020/12

Y1 - 2020/12

N2 - Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

AB - Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

KW - Exoskeleton robot

KW - Fuzzy sliding mode control

KW - Pneumatic muscle actuator

KW - Rehabilitation

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Implementation of an upper-limb exoskeleton robot driven by pneumatic muscle actuators for rehabilitation

Abstract

Keywords

ASJC Scopus subject areas

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