Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device

doi:10.1109/TMECH.2020.3006364

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device
	Li, Houcheng 1,2; Cheng, Long 1,2; Li, Zhengwei 1,2; Xue, Wenchao 3
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2021-04-01
卷号	26 期号:2 页码:841-853
关键词	Actuators Exoskeletons Performance evaluation Training IEEE transactions Mechatronics Active disturbance rejection control extended state observer extension motion hand rehabilitation parameter selection transient steady-state performance
ISSN号	1083-4435
DOI	10.1109/TMECH.2020.3006364
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	This article proposes a new hand rehabilitation device to help therapists repetitively perform hand group stretching training for poststroke patients. The actuator of the proposed device is made of elastomeric materials, driven by fluid pressure, and put onto the surface of a glove. Compared to the traditional rigid exoskeletons for hand rehabilitation, the proposed device is soft, lightweight, and low cost. Because the exact and explicit model is hard to be built for the proposed device and the unconscious tremors occurred during hand rehabilitation, the active disturbance rejection control (ADRC) algorithm, based on the extended state observer (ESO), is adopted to achieve the control purpose. This article analyzes the transient and steady-state performances of the controller based on some reasonable assumptions, and shows its better disturbance rejection ability compared to the widely used proportional-integral-differential control method. In addition, the ADRC algorithm with the reduced-order extended state observer (RESO) has been studied as well. The parameters of the RESO can be obtained by the parameters of the previously determined ESO instead of the trial and error approach, which can ensure the control performance of the ADRC with the RESO does not degrade. Finally, clinical tests have been conducted to verify the functional correctness of the proposed device, and these theoretical results have also been verified by experiments and comparisons.
资助项目	Beijing Natural Science Foundation[JQ19020] ; Beijing Natural Science Foundation[L182060] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873268]
WOS关键词	TRACKING CONTROL ; DESIGN ; EXOSKELETON ; GLOVE
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000641987800024
资助机构	Beijing Natural Science Foundation ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/44524]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cheng, Long
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Houcheng,Cheng, Long,Li, Zhengwei,et al. Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021,26(2):841-853.
APA	Li, Houcheng,Cheng, Long,Li, Zhengwei,&Xue, Wenchao.(2021).Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device.IEEE-ASME TRANSACTIONS ON MECHATRONICS,26(2),841-853.
MLA	Li, Houcheng,et al."Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device".IEEE-ASME TRANSACTIONS ON MECHATRONICS 26.2(2021):841-853.