Design and control of a passive compliant actuation with positioning measurement by LED and photodiode detector for medical application

Anan Suebsomran

doi:10.1177/0020294021989749

Abstract

Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.

Highlights

The most substantial social transformation in the 21st century is the increase in aging population
The results showed high torque gain compared to MACCEPA
In order to enhance with higher torque, the design of hybrid drive of a lower limb exoskeleton robot, XoR2 was proposed by Hyon et al.[15]

Summary

Introduction

The most substantial social transformation in the 21st century is the increase in aging population. The new variables compliance actuator was proposed for prosthesis devices and exoskeleton systems by Tsagarikis et al.[11] The design concept is mainly using antagonistic-actuated variable stiffness joints. The experimental results showed the validation the design concept and force control with specific ranges applied in a wearable exoskeleton rehabilitation robot.[12,13] The design and construction of a biped robot of joints with the control of stiffness and damping independent control variables was proposed by Enoch et al.[14] Independent variable stiffness and damping are suitable for providing the required torque and stiffness during biped locomotion and can maintain the joint at high stiffness value. In order to enhance with higher torque, the design of hybrid drive of a lower limb exoskeleton robot, XoR2 was proposed by Hyon et al.[15] Hybrid drive of dc servomotor and pneumatic artificial muscle (PAM) has performed the control advantage for passive stability of joints. The balance control technique was Measurement and Control 54(3-4)

10 Control input by RBF un

Findings

Conclusion