Controller Synthesis of Multi-Axial Robotic System Used for Wearable Devices.

摘要

Wearable devices are commonly used in different fields to help improving performance of movements for different groups of users. The long-term goal of this study is to develop a low-cost assistive robotic device that allows patients to perform rehabilitation activities independently and reproduces natural movement to help stroke patients and elderly adults in their daily activities while moving their arms. In the past few decades, various types of wearable robotic devices have been developed to assist different physical movements. Among different types of actuators, the twisted-string actuation system is one of those that has advantages of light-weight, low cost, and great portability. In this study, a dual twisted-string actuator is used to drive the joints of the prototype assistive robotic device. To compensate the asynchronous movement caused by nonlinear factors, a hybrid controller that combines fuzzy logic rules and linear PID control algorithm was adopted to compensate for both tracking and synchronization of the two actuators.;In order to validate the performance of proposed controllers, the robotic device was driven by an xPC Target machine with additional embedded controllers for different data acquisition tasks. The controllers were fine tuned to eliminate the inaccuracy of tracking and synchronization caused by disturbance and asynchronous movements of both actuators. As a result, the synthesized controller can provide a high precision when tracking simple actual human movements.