This study proposed a control method, a data-driven predictive control (DDPC), for the hand exoskeleton used for active, passive, and resistive rehabilitation. DDPC is a model-free approach based on past system data. One of the strengths of DDPC is that constraints of states can be added to the controller while performing the controller design. These features of the control algorithm eliminate an essential problem for rehabilitation robots in terms of easy customization and safe repetitive rehabilitation tasks that can be planned within certain constraints. Experiments were carried out with a designed hand rehabilitation system under repetitive and various therapy tasks. Real-time experiment results demonstrate the feasibility and efficiency of the proposed control approach to rehabilitation systems.
Data-driven predictive control of exoskeleton for hand rehabilitation with subspace identification
2022-10-01
22
Article (Journal)
Electronic Resource
English
Haberleşme ve Kontrol Mühendisliği , Filtration and Separation , Enstrümantasyon , Instrumentation , Engineering (miscellaneous) , ANALİTİK , MÜHENDİSLİK , ENGINEERING , General Engineering , KİMYA , Physical Sciences , Analitik Kimya , Chemistry (miscellaneous) , Natural Sciences , Sinyal İşleme , Electrical and Electronic Engineering , ELEKTRİK VE ELEKTRONİK , Kimya (çeşitli) , Bilgi Sistemleri , ANALYTICAL , ELECTRICAL & ELECTRONIC , Mühendislik ve Teknoloji , Genel Mühendislik , Communication and Control Engineering , Analytical Chemistry , Signal Processing , Natural Sciences (SCI) , Fizik Bilimleri , Information Systems , ALETLER & GÖSTERİM , Mühendislik (çeşitli) , Mühendislik , Bilişim ve Teknoloji (ENG) , Filtrasyon ve Ayırma , DDPC , Temel Bilimler , Temel Bilimler (SCI) , Elektrik ve Elektronik Mühendisliği , Engineering and Technology , INSTRUMENTS & INSTRUMENTATION , Computing & Technology (ENG) , Kimya , Chemistry , General Chemistry , Genel Kimya
DDC: | 629 |
Design and development of a hand exoskeleton for rehabilitation of hand injuries
Online Contents | 2014
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