Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism
Aiming at the people with hip joint dysfunction, a novel weak-coupling parallel hip-joint rehabilitation mechanism is proposed. The mechanism and human lower limbs form a closed motion chain, so that it has three rotational degrees of freedom, and its rotation center coincides with the human hip joi...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-06-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.007 |
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| _version_ | 1841546942888280064 |
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| author | Xing Jiyuan Xu Jilong Liu Fucai |
| author_facet | Xing Jiyuan Xu Jilong Liu Fucai |
| author_sort | Xing Jiyuan |
| collection | DOAJ |
| description | Aiming at the people with hip joint dysfunction, a novel weak-coupling parallel hip-joint rehabilitation mechanism is proposed. The mechanism and human lower limbs form a closed motion chain, so that it has three rotational degrees of freedom, and its rotation center coincides with the human hip joint center, which can meet the need of hip-joint rehabilitation. The human-machine inverse kinematics model is established using the closed loop vector method. The human-machine forward kinematics model is established using the numerical method. The fuzzy adaptive proportional-derivative (PD) controller is designed based on the fuzzy control theory. The control law is constructed using the tracking error and its derivative. The parameters of controllers are adaptively adjusted online using the fuzzy algorithm. The simulation and experiment results show that the fuzzy adaptive PD controller has fast response speed and good tracking effect. |
| format | Article |
| id | doaj-art-5b58f8ef83964d3bb545c99b4d0da06a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-06-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-5b58f8ef83964d3bb545c99b4d0da06a2025-01-10T15:00:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-06-0148414962028373Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation MechanismXing JiyuanXu JilongLiu FucaiAiming at the people with hip joint dysfunction, a novel weak-coupling parallel hip-joint rehabilitation mechanism is proposed. The mechanism and human lower limbs form a closed motion chain, so that it has three rotational degrees of freedom, and its rotation center coincides with the human hip joint center, which can meet the need of hip-joint rehabilitation. The human-machine inverse kinematics model is established using the closed loop vector method. The human-machine forward kinematics model is established using the numerical method. The fuzzy adaptive proportional-derivative (PD) controller is designed based on the fuzzy control theory. The control law is constructed using the tracking error and its derivative. The parameters of controllers are adaptively adjusted online using the fuzzy algorithm. The simulation and experiment results show that the fuzzy adaptive PD controller has fast response speed and good tracking effect.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.007Parallel mechanismWeak-couplingHip-joint rehabilitationTrajectory trackingFuzzy adaptive |
| spellingShingle | Xing Jiyuan Xu Jilong Liu Fucai Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism Jixie chuandong Parallel mechanism Weak-coupling Hip-joint rehabilitation Trajectory tracking Fuzzy adaptive |
| title | Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism |
| title_full | Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism |
| title_fullStr | Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism |
| title_full_unstemmed | Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism |
| title_short | Design and Motion Control of a Novel Weak-coupling Parallel Hip-joint Rehabilitation Mechanism |
| title_sort | design and motion control of a novel weak coupling parallel hip joint rehabilitation mechanism |
| topic | Parallel mechanism Weak-coupling Hip-joint rehabilitation Trajectory tracking Fuzzy adaptive |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.06.007 |
| work_keys_str_mv | AT xingjiyuan designandmotioncontrolofanovelweakcouplingparallelhipjointrehabilitationmechanism AT xujilong designandmotioncontrolofanovelweakcouplingparallelhipjointrehabilitationmechanism AT liufucai designandmotioncontrolofanovelweakcouplingparallelhipjointrehabilitationmechanism |