Iterative learning impedance control for rehabilitation robots driven by series elastic actuators

DOI10.1016/J.AUTOMATICA.2017.12.031MaRDI QIDQ1640705zbMATHOpenAlexFDO

Authors Xiang Li, Yunhui Liu, Haoyong Yu

Publication date 14 June 2018

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2017.12.031

zbMATH Keywords

Lyapunov methodsiterative learning impedance controlrehabilitation robotsseries elastic actuator

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Artificial intelligence for robotics (68T40) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• scientific article; zbMATH DE number 931789 (Why is no real title available?)
• A unified passivity based control framework for position, torque and impedance control of flexible joint robots
• Impedance Control: An Approach to Manipulation: Part III—Applications
• Iterative Learning Control in Health Care: Electrical Stimulation and Robotic-Assisted Upper-Limb Stroke Rehabilitation
• Task-space sensory feedback control of robot manipulators

Cited in

(20)

• A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators.
• Nontracking type iterative learning control based on economic model predictive control
• Combined Feedback-Feed Forward Control Strategy for a Knee Rehabilitation Device with Soft Actuation
• MIMO ILC using complex-kernel regression and application to precision SEA robots
• scientific article; zbMATH DE number 6718753 (Why is no real title available?)
• Extremum seeking for optimal control problems with unknown time-varying systems and unknown objective functions
• Adaptive iterative learning control for high-order nonlinear systems with different types of uncertainties
• Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
• Impedance adaptive controller for a prototype of a whiplash syndrome rehabilitation device
• Fault diagnosis for semilinear distributed parameter systems with actuator/sensor based on iterative learning control
• An adaptive arm's mechanical impedance estimator for rehabilitation robots without force and acceleration sensors
• Period steady-state and autonomous control of the upper limb transfer system of rehabilitation robots
• Optimal predictive impedance control in the presence of uncertainty for a lower limb rehabilitation robot
• Continuous sliding mode iterative learning control for output constrained MIMO nonlinear systems
• Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory
• Hybrid Impedance and Nonlinear Adaptive Control for a 7-DoF Upper Limb Rehabilitation Robot: Formulation and Stability Analysis
• Continuous output feedback sliding mode control for underactuated flexible-joint robot
• Exponentially convergence for the regressor-free adaptive fuzzy impedance control of robots by gradient descent algorithm
• Knee Rehabilitation Device with Soft Actuation: An Approach to the Motion Control
• Towards intelligent robot-assisted rehabilitation systems

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