Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton

Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and...

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Main Authors: Aole, S., Elamvazuthi, I., Waghmare, L., Patre, B., Meriaudeau, F.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.23336 /
Published: MDPI AG 2020
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85087174482&doi=10.3390%2fs20133681&partnerID=40&md5=47ba2b42d64b546b039ecb9f4192f5e0
http://eprints.utp.edu.my/23336/
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spelling utp-eprints.233362021-08-19T07:24:45Z Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton Aole, S. Elamvazuthi, I. Waghmare, L. Patre, B. Meriaudeau, F. Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research. © 2020 by the authors. Licensee MDPI, Basel, Switzerland. MDPI AG 2020 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85087174482&doi=10.3390%2fs20133681&partnerID=40&md5=47ba2b42d64b546b039ecb9f4192f5e0 Aole, S. and Elamvazuthi, I. and Waghmare, L. and Patre, B. and Meriaudeau, F. (2020) Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton. Sensors (Switzerland), 20 (13). pp. 1-53. http://eprints.utp.edu.my/23336/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in the impairment of motor control and induce functional difficulties to human beings like walking, standing, etc. Physical injuries due to accidents and muscular weaknesses caused by aging affect people and can cause them to lose their ability to perform daily routine functions. In order to help people recover or improve their dysfunctional activities and quality of life after accidents or strokes, assistive devices like exoskeletons and orthoses are developed. Control strategies for control of exoskeletons are developed with the desired intention of improving the quality of treatment. Amongst recent control strategies used for rehabilitation robots, active disturbance rejection control (ADRC) strategy is a systematic way out from a robust control paradox with possibilities and promises. In this modern era, we always try to find the solution in order to have minimum resources and maximum output, and in robotics-control, to approach the same condition observer-based control strategies is an added advantage where it uses a state estimation method which reduces the requirement of sensors that is used for measuring every state. This paper introduces improved active disturbance rejection control (I-ADRC) controllers as a combination of linear extended state observer (LESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF). The proposed controllers were evaluated through simulation by investigating the sagittal plane gait trajectory tracking performance of two degrees of freedom, Lower Limb Robotic Rehabilitation Exoskeleton (LLRRE). This multiple input multiple output (MIMO) LLRRE has two joints, one at the hip and other at the knee. In the simulation study, the proposed controllers show reduced trajectory tracking error, elimination of random, constant, and harmonic disturbances, robustness against parameter variations, and under the influence of noise, with improvement in performance indices, indicates its enhanced tracking performance. These promising simulation results would be validated experimentally in the next phase of research. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.
format Article
author Aole, S.
Elamvazuthi, I.
Waghmare, L.
Patre, B.
Meriaudeau, F.
spellingShingle Aole, S.
Elamvazuthi, I.
Waghmare, L.
Patre, B.
Meriaudeau, F.
Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
author_sort Aole, S.
title Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
title_short Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
title_full Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
title_fullStr Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
title_full_unstemmed Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
title_sort improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton
publisher MDPI AG
publishDate 2020
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85087174482&doi=10.3390%2fs20133681&partnerID=40&md5=47ba2b42d64b546b039ecb9f4192f5e0
http://eprints.utp.edu.my/23336/
_version_ 1741196659488980992
score 11.62408

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