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سی و چهارمین کنفرانس بین المللی مهندسی برق
A Two-Layer Impedance Control Framework Featuring a Super-Twisting Inner Loop for Knee Rehabilitation Cable-Driven Parallel Robots
نویسندگان :
Anita Haji Lahijani
1
Farid Kaviani
2
Mohammad A Khosravi
3
1- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
2- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
3- دانشگاه صنعتی امیرکبیر(پلی تکنیک تهران)
کلمات کلیدی :
Super-Twisting algorithm،Impedance Control،Rehabilitation Cable-Driven Parallel Robot،Inner-loop architecture،Second-order sliding-mode،Knee
چکیده :
In rehabilitation robotics, effective patient recovery relies on control strategies that incorporate human-robot interaction. This paper introduces a novel inner-loop control scheme within a dual-loop architecture, designed to obtain a specified impedance model. The proposed method is applied to a \textit{Rehabilitation Cable-Driven Parallel Robot} (ReCDPR), and the performance is evaluated. Quantitative comparisons are conducted, demonstrating the effectiveness of the proposed approach in improving control effort, interaction and tracking performance.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
