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Position Tracking of a Pneumatic-Muscle-Driven Rehabilitation Robot by a Single Neuron Tuned PID Controller

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Listed:
  • Jun Zhong
  • Yue Zhu
  • Chun Zhao
  • Zhenfeng Han
  • Xin Zhang

Abstract

Pneumatic muscle actuators (PMAs) own compliant characteristics and are suitable for use in rehabilitation equipment. This paper introduces a rehabilitation robot driven by PMAs devised in the Rehabilitation and Medical Robot Laboratory. Considering high nonlinearities inside PMAs, a single neuron tuned PID controller is carefully designed. Experimental setup is built up and trials are performed. Results demonstrate the proposed advanced PID algorithm can achieve better capacity in position tracking than the conventional PID controller.

Suggested Citation

  • Jun Zhong & Yue Zhu & Chun Zhao & Zhenfeng Han & Xin Zhang, 2020. "Position Tracking of a Pneumatic-Muscle-Driven Rehabilitation Robot by a Single Neuron Tuned PID Controller," Complexity, Hindawi, vol. 2020, pages 1-9, October.
    • Handle: RePEc:hin:complx:1438391
    DOI: 10.1155/2020/1438391
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