Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot

The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and an...

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Autores principales:	Mohammed Y. Hassan, Shahad S. Ghintab
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2017
Materias:	Rehabilitation robot Force-Position control lower limb Ant Colony Optimization Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/dbc30be36d0a49c1a97ce62dfe5a9fc3
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id	oai:doaj.org-article:dbc30be36d0a49c1a97ce62dfe5a9fc3
record_format	dspace
spelling	oai:doaj.org-article:dbc30be36d0a49c1a97ce62dfe5a9fc32021-12-02T05:52:07ZAnt Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot1818-11712312-0789https://doaj.org/article/dbc30be36d0a49c1a97ce62dfe5a9fc32017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/284https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%. Mohammed Y. HassanShahad S. GhintabAl-Khwarizmi College of Engineering – University of BaghdadarticleRehabilitation robotForce-Position controllower limbAnt Colony OptimizationChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 12, Iss 1 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Rehabilitation robot Force-Position control lower limb Ant Colony Optimization Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Rehabilitation robot Force-Position control lower limb Ant Colony Optimization Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Mohammed Y. Hassan Shahad S. Ghintab Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
description	The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%.
format	article
author	Mohammed Y. Hassan Shahad S. Ghintab
author_facet	Mohammed Y. Hassan Shahad S. Ghintab
author_sort	Mohammed Y. Hassan
title	Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
title_short	Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
title_full	Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
title_fullStr	Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
title_full_unstemmed	Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot
title_sort	ant colony optimization based force-position control for human lower limb rehabilitation robot
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2017
url	https://doaj.org/article/dbc30be36d0a49c1a97ce62dfe5a9fc3
work_keys_str_mv	AT mohammedyhassan antcolonyoptimizationbasedforcepositioncontrolforhumanlowerlimbrehabilitationrobot AT shahadsghintab antcolonyoptimizationbasedforcepositioncontrolforhumanlowerlimbrehabilitationrobot
_version_	1718400201295659008

Ant Colony Optimization Based Force-Position Control for Human Lower Limb Rehabilitation Robot

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