|Adaptive Control with a Fuzzy Tuner for Cable-based Rehabilitation Robot
Jin Yang, Hang Su, Zhijun Li, Di Ao, and Rong Song*
International Journal of Control, Automation, and Systems, vol. 14, no. 3, pp.865-875, 2016
Abstract : Since there are external uncertainties in the environment and the dynamic properties of human arm are
time-varying during movement, it is difficult to achieve good tracking performance during robot-aided rehabilitation.
The purpose of this study is to develop an adaptive controller with a fuzzy tuner for a cable-based rehabilitation
robot. The fuzzy tuner can adjust the control parameters according to position error and the change of error, thus the
time-varying control parameters can be optimized by this tuner. To verify the proposed controller, simulation and
experiment studies using the cable-based rehabilitation robot are carried out. The rehabilitation robot is employed
to complete two facilitation movements in the experiment. Results show that the adaptive controller can attain better
control performance after tuning the control parameters.
Keyword : Adaptive controller, cable-based, fuzzy tuner, rehabilitation robot.