Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex stru...

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Bibliographic Details
Main Authors: Qingsong Ai, Chengxiang Zhu, Jie Zuo, Wei Meng, Quan Liu, Sheng Q. Xie, Ming Yang
Format: Article
Language:English
Published: MDPI AG 2017-12-01
Series:Sensors
Subjects:
parallel robot
ankle rehabilitation
pneumatic muscles
disturbance estimation
adaptive sliding mode control
Online Access:https://www.mdpi.com/1424-8220/18/1/66

Internet

https://www.mdpi.com/1424-8220/18/1/66

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