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Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Augmented PID Control of a 2PPR-2PRP Planar Parallel Manipulator for Lower Limb Rehabilitation Applications

Authors : J. K. Mohanta, M. Santhakumar, S. Kurtenbach, B. Corves, M. Hüsing

Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Publisher: Springer International Publishing

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Abstract

This paper addresses the dynamic control of a 2PRP-2PPR vertical planar parallel manipulator. This proposed manipulator can be used for the purpose of lower limb rehabilitation applications (in specific sitting/lying type of lower limb rehabilitation applications). The kinematic and dynamic model of the proposed manipulator are derived and discussed. An augmented PID control along with an uncertainty estimator is proposed for the motion control of the manipulator. The proposed system performance along with the motion controller is demonstrated numerically for the application of lower limb rehabilitation therapies using a clinically recorded gait data. The robustness of the controller and its parameter sensitivity are analysed through different operating conditions and their results are presented. Note: P—stands for Prismatic/translation joint and R—stands for Rotary/revolute joint.

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Metadata
Title
Augmented PID Control of a 2PPR-2PRP Planar Parallel Manipulator for Lower Limb Rehabilitation Applications
Authors
J. K. Mohanta
M. Santhakumar
S. Kurtenbach
B. Corves
M. Hüsing
Copyright Year
2017
Book
New Advances in Mechanisms, Mechanical Transmissions and Robotics

Print ISBN: 978-3-319-45449-8

Electronic ISBN: 978-3-319-45450-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-45450-4_39

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