Design and Simulation of Fuzzy Based Nonlinear-PID and Sliding Mode Controllers for Ankle Rehabilitation Soft Wearable Robot
Creators: name: Hamore, Beykaso Abayneh
name: Riessom Weldegiorgis (PhD)
Publisher: name: National Academic Digital Repository of Ethiopia
Year: 2021
Subjects: Ankle rehabilitation; soft wearable robot; fuzzy logic control; Nonlinear PID; N-PID; sliding mode control

description: <strong>Abstract:</strong> An ankle injury can happen frequently regardless of age and sex, its severity may range from simple to very tough conditions leading to total malfunctioning of the joint hindering mobility in day to day life. And for patients suffering from stroke and severe accidents, it is difficult to rally easily. Clinical treatment for this problem needs the active involvement of a physiotherapist which is tedious and tiring resulting in early fatigue and inadequate output. Most of the robot-assisted rehabilitation programs involve conventional rigid robots, which have good robustness and input signal tracking. However, they are rigid, heavy, and stationery which makes them difficult for in house treatment. Soft robotics has become an active research area due to their compliance with the natural anatomy, volume to weight ratio, and overall compatibility. However, the difficulties for controlling soft robots have remained a challenge for employing soft wearable robots for clinical applications. In this paper, we have designed a fuzzy-based nonlinear PID controller with tracking differentiators and a higher-order sliding mode controllers which can maintain robustness in the presence of a disturbance signal. One problem in robot assisted rehabilitation applications is considering the pain signal during exercise. We have developed a simple innovative way to take pain signals for control action, the patient is actively involved by feeding the pain signal to the controller. The pain signal will be characterized into predefined categories from the physiotherapist’s knowledge, a fuzzy controller is developed to generate reference force output for the controller from pain feedback and rate of change of muscle elongation. The developed controller can track the input trajectory with zero overshoot, zero steady-state error, settling time of 0.15sec, and rise time of 0.19sec. The developed models were simulated in Matlab Simulink and Simscape’s physical modeling environment. Keywords: Ankle rehabilitation; soft wearable robot; fuzzy logic control; Nonlinear PID; integral sliding mode control; super-twisting sliding mode control; Matlab Simscape.
description: {"references": ["Prashant K. Jamwal PhD, Shahid Hussain PhD, Nazim MirNasiri PhD, Mergen H. Ghayesh PhD &amp; Sheng Q. Xie PhD. (2016): 'Tele-rehabilitation using in-house wearable ankle rehabilitation robot', Assistive Technology, DOI: 10.1080/10400435.2016.1230153", "M. Zhang, T. C. Davies, and S. Xie. (2013) 'Effectiveness of robot-assisted therapy on ankle rehabilitation a systematic review,' Journal of Neuro Engineering and Rehabilitation, vol. 10, no. 1, p. 30, 2013.", "Latifah Nurahmi, St\u00e9phane Caro, Mochamad Solichin. (2018) 'A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator'. \u00a9 2018 Elsevier Ltd. All rights reserved.", "Giorgio Figliolini, Chiara Lanni, Pierluigi Rea, Tommaso Gallinelli. (2018) 'Mechatronic Design and Control of a 3-RPS Parallel Manipulator' Conference Paper \u00b7 June 2018 DOI: 10.1007/978-3-319-61276-8_9.", "Quanquan Liu ,Chunbao Wang ,Jian Jun Long.(2017) 'Development of a New Robotic Ankle Rehabilitation Platform for Hemiplegic Patients after Stroke' Hindawi Journal of Healthcare Engineering, Received 26 April 2017; Accepted 13 November 2017; Published 15 March 2018", "Park, Y.L.; Chen, B.R.; P\u00e9rez-Arancibia, N.O.; Young, D.; Stirling, L.; Wood, R.J.; Goldfield, E.C.; Nagpal, R.(2014) 'Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation' Bioinspir. Biomim. 2014, 9, 016007.", "Junghan Kwon , Ji-Hong Park, Subyeong Ku, YeongHyeon Jeong, Nam-Jong Paik , and Yong-Lae Park.(2019) 'A Soft Wearable Robotic Ankle-Foot-Orthosis for Post-Stroke Patients' IEEE Robotics And Automation Letters, Vol. 4, No. 3, July 2019.", "Kiminao Kogiso, Kenta Sawano, Takashi Itto, and Kenji Sugimoto.(2012) 'Identification Procedure for McKibben Pneumatic Artificial Muscle Systems' 2012 IEEE/RSJ International Conference on intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal", "Mohd Azuwan Mat Dzahir and Shin-ichiroh Yamamoto.(2019) 'Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method' Appl. Sci. 2019, 9, 2538; doi:10.3390/app9122538 Received: 9 May 2019; Accepted: 19 June 2019; Published: 21 June 2019.", "Wei Zha, Aiguo Song and Yu Cao.(2019) 'An Extended Proxy-Based Sliding Mode Control of Pneumatic Muscle Actuators'. Appl. Sci. 2019, 9, 1571; doi:10.3390/app9081571.", "William scaff, Oswaldo Horikawa, Marcos de sales and Guerra Tsuzuki.(2018) 'Pneumatic Artificial Muscle Optimal Control with Simulated Annealing'. 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved", "S.Q. Xie, P.K. Jamwal.(2010) 'An iterative fuzzy controller for pneumatic muscle driven rehabilitation robot'. Elsevier Ltd. All rights reserved. doi:10.1016/j.eswa.2010.12.154. Design and Simulation of Fuzzy Based Nonlinear-PID and Sliding Mode Controllers for Ankle Rehabilitation Soft Wearable Robot", "Kiminao Kogiso, Kenta Sawano, Takashi Itto and Kenji Sugimoto.(2012) 'Identification Procedure for McKibben Pneumatic Artificial Muscle Systems'. 2012 IEEE/RSJ International Conference onIntelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal", "Mohd Azuwan Mat Dzahir and Shin-ichiroh Yamamoto.(2019) 'Dynamic Modeling of McKibben Muscle Using Empirical Model and Particle Swarm Optimization Method' Appl. Sci. 2019, 9, 2538; doi:10.3390/app9122538 Received: 9 May 2019; Accepted: 19 June 2019; Published: 21 June 2019.", "Madadi, Elmira, and S\u00f6ffker, Dirk.(2018) \"Towards an Adaptive Control Concept for Unknown Nonlinear MIMO Systems.\" Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 14th International Conference on Multibody Systems, Nonlinear Dynamics, and Control. Quebec City, Quebec, Canada. August 26\u2013 29, 2018. V006T09A012. ASME. https://doi.org/10.1115/DETC2018-85357", "Ibraheem Kasim Ibraheem, Wameedh Riyadh Abdul-Adheem.(2016) 'On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design' International Journal of Advanced Computer Science and Applications\u00b7 October 2016.", "Yuri shtessel, Christopher Edwards, Leonid Fridman, Arie Levant. (2014) 'Sliding Mode Control and Observation', 1st ed., Birkh\u00e4user, New York, NY"]}