Open AccessModeling and Control of a Novel Design of Series Elastic Actuator for Upper Limb Rehabilitation
Author(s) -
Habiba Ibrahim,
Hossam Hassan Ammar,
Raafat Shalaby
Publication year - 2022
Publication title -
mathematical modelling and engineering problems/mathematical modelling of engineering problems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.26
H-Index - 11
eISSN - 2369-0747
pISSN - 2369-0739
DOI - 10.18280/mmep.090111
Subject(s) - control theory (sociology) , actuator , controller (irrigation) , rehabilitation robotics , torque , test bench , robotics , matlab , engineering , computer science , control engineering , rehabilitation , simulation , robot , artificial intelligence , control (management) , physical therapy , medicine , physics , operating system , agronomy , biology , embedded system , thermodynamics
The field of rehabilitation robotics for upper limb assistance has grown rapidly in the past few years. Rehabilitation robots have direct contact with human joints, which presents a serious safety concern. In this paper, a novel design for a series elastic actuator (SEA) is presented for upper limb rehabilitation of sensorimotor dysfunctions. The proposed SEA ensures safety and robust torque control under various disturbances. The proposed SEA is modeled and simulated using MATLAB Simulink to obtain Input/Output driven data. For the proposed system, two modeling approaches, ARMAX and NN, are used along with comparative analysis for each model fitting. After SEA dynamic modeling, the PSO-tuned LQR controller is designed and implemented. Comparison parameters are then chosen to test the controller behavior during different applied disturbances. The chosen controller showed optimum set-point tracking performance, which is equivalent to upper limb movement. This research can be extended to develop and implement a test bench for upper limb rehabilitation.