Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device

doi:10.1109/TMECH.2020.3006364

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	Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device
	Li, Houcheng 1,2; Cheng, Long 1,2; Li, Zhengwei 1,2; Xue, Wenchao 3
	2021-04-01
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
卷号	26 期号:2 页码:841-853
摘要	This article proposes a new hand rehabilitation device to help therapists repetitively perform hand group stretching training for poststroke patients. The actuator of the proposed device is made of elastomeric materials, driven by fluid pressure, and put onto the surface of a glove. Compared to the traditional rigid exoskeletons for hand rehabilitation, the proposed device is soft, lightweight, and low cost. Because the exact and explicit model is hard to be built for the proposed device and the unconscious tremors occurred during hand rehabilitation, the active disturbance rejection control (ADRC) algorithm, based on the extended state observer (ESO), is adopted to achieve the control purpose. This article analyzes the transient and steady-state performances of the controller based on some reasonable assumptions, and shows its better disturbance rejection ability compared to the widely used proportional-integral-differential control method. In addition, the ADRC algorithm with the reduced-order extended state observer (RESO) has been studied as well. The parameters of the RESO can be obtained by the parameters of the previously determined ESO instead of the trial and error approach, which can ensure the control performance of the ADRC with the RESO does not degrade. Finally, clinical tests have been conducted to verify the functional correctness of the proposed device, and these theoretical results have also been verified by experiments and comparisons.
关键词	Actuators Exoskeletons Performance evaluation Training IEEE transactions Mechatronics Active disturbance rejection control extended state observer extension motion hand rehabilitation parameter selection transient steady-state performance
DOI	10.1109/TMECH.2020.3006364
收录类别	SCI
语种	英语
资助项目	Beijing Natural Science Foundation[JQ19020] ; Beijing Natural Science Foundation[L182060] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[61873268]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:000641987800024
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.amss.ac.cn/handle/2S8OKBNM/58612
专题	中国科学院数学与系统科学研究院
通讯作者	Cheng, Long
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Acad Math & Syst Sci, Inst Syst Sci, Key Lab Syst & Control, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Houcheng,Cheng, Long,Li, Zhengwei,et al. Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2021,26(2):841-853.
APA	Li, Houcheng,Cheng, Long,Li, Zhengwei,&Xue, Wenchao.(2021).Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device.IEEE-ASME TRANSACTIONS ON MECHATRONICS,26(2),841-853.
MLA	Li, Houcheng,et al."Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device".IEEE-ASME TRANSACTIONS ON MECHATRONICS 26.2(2021):841-853.