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

作　　者：Jun Wu Jian Huang Yongji Wang Kexin Xing 

机构地区：[1]Key Laboratory of Image Processing and Intelligent Control,Department of Control Science and Engineering,Huazhong University of Science and Technology,Wuhan,China

出　　处：《International Journal of Intelligent Computing and Cybernetics》2012年第1期91-110,共20页智能计算与控制论国际期刊（英文）

基　　金：This work has been supported in part by Hi-tech Research and Development Program of China under Grant 2007AA04Z204 and Grant 2008AA04Z207;in part by the Natural Science Foundation of China under Grant 60674105,60975058 and 61075095.

摘　　要：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.

关 键 词：ROBOTICS Control systems Controllers Actuators Adaptive system theory Wearable rehabilitation robotic hand Echo state network Pneumatic muscle Trajectory tracking 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]