Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method
This paper proposes a variable impedance control strategy based on the singular perturbation method to address the challenges of achieving accurate impedance characteristics and mitigating stability degradation in two-degree-of-freedom planar SEA-driven robots. By decomposing the system into fast an...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2025-07-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806251325135 |
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| _version_ | 1849320193425145856 |
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| author | Bingshan Hu Hao Ren Zhou Zhou Fengchen Liu Hongliu Yu |
| author_facet | Bingshan Hu Hao Ren Zhou Zhou Fengchen Liu Hongliu Yu |
| author_sort | Bingshan Hu |
| collection | DOAJ |
| description | This paper proposes a variable impedance control strategy based on the singular perturbation method to address the challenges of achieving accurate impedance characteristics and mitigating stability degradation in two-degree-of-freedom planar SEA-driven robots. By decomposing the system into fast and slow subsystems, we control them separately to improve tracking performance, disturbance rejection, and impedance control. A MATLAB/Simulink model was developed for simulation and compared with a traditional PD controller. The results show that the proposed controller outperforms the PD controller, maintaining position errors under 10% and impedance errors under 30% of those seen with the PD controller under external force input. Additionally, experimental validation confirmed the controller's ability to optimally adjust robot stiffness in response to changes in the user's limb-end stiffness, supporting the assist-as-needed strategy. |
| format | Article |
| id | doaj-art-b878b0c8182f4291bee64c868ff6d371 |
| institution | Kabale University |
| issn | 1729-8814 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj-art-b878b0c8182f4291bee64c868ff6d3712025-08-20T03:50:11ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142025-07-012210.1177/17298806251325135Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation methodBingshan Hu0Hao Ren1Zhou Zhou2Fengchen Liu3Hongliu Yu4 Institute of Rehabilitation Engineering and Technology, , Shanghai, China Institute of Rehabilitation Engineering and Technology, , Shanghai, China Institute of Rehabilitation Engineering and Technology, , Shanghai, China Institute of Rehabilitation Engineering and Technology, , Shanghai, China Institute of Rehabilitation Engineering and Technology, , Shanghai, ChinaThis paper proposes a variable impedance control strategy based on the singular perturbation method to address the challenges of achieving accurate impedance characteristics and mitigating stability degradation in two-degree-of-freedom planar SEA-driven robots. By decomposing the system into fast and slow subsystems, we control them separately to improve tracking performance, disturbance rejection, and impedance control. A MATLAB/Simulink model was developed for simulation and compared with a traditional PD controller. The results show that the proposed controller outperforms the PD controller, maintaining position errors under 10% and impedance errors under 30% of those seen with the PD controller under external force input. Additionally, experimental validation confirmed the controller's ability to optimally adjust robot stiffness in response to changes in the user's limb-end stiffness, supporting the assist-as-needed strategy.https://doi.org/10.1177/17298806251325135 |
| spellingShingle | Bingshan Hu Hao Ren Zhou Zhou Fengchen Liu Hongliu Yu Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method International Journal of Advanced Robotic Systems |
| title | Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method |
| title_full | Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method |
| title_fullStr | Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method |
| title_full_unstemmed | Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method |
| title_short | Research on variable impedance control of SEA-driven upper limb rehabilitation robot based on singular perturbation method |
| title_sort | research on variable impedance control of sea driven upper limb rehabilitation robot based on singular perturbation method |
| url | https://doi.org/10.1177/17298806251325135 |
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