PMID- 34720012
OWN - NLM
STAT- MEDLINE
DCOM- 20220208
LR  - 20220208
IS  - 2041-3033 (Electronic)
IS  - 0954-4119 (Linking)
VI  - 236
IP  - 3
DP  - 2022 Mar
TI  - Nonlinear time delay estimation based model reference adaptive impedance control 
      for an upper-limb human-robot interaction.
PG  - 385-398
LID - 10.1177/09544119211054919 [doi]
AB  - A nonlinear Time Delay Estimation (TDE) based model reference adaptive impedance 
      controller was developed for Tarbiat Modares University Upper Limbs 
      Rehabilitation Robot (TUERR). The proposed controller uses a stable reference 
      impedance model, which produces desired dynamic relationship between applied 
      force and position error for the robot End-effector to track the desired 
      trajectory. TDE based model reference adaptive controller estimates unknown 
      system dynamics and uncertainties, and the adaption law modifies the controller 
      gains. Using a Lyapunov function was shown trajectory tracking errors in the 
      overall system are bounded. In addition, a performance-based velocity profile 
      proposed to modify the pace of trajectory planning considering the deviation from 
      the desired path. Finally, the performance of the presented controller and 
      rehabilitation process is experimentally investigated for TUERR.
FAU - Omrani, Javad
AU  - Omrani J
AUID- ORCID: 0000-0003-0992-0324
AD  - Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran.
FAU - Moghaddam, Majid M
AU  - Moghaddam MM
AUID- ORCID: 0000-0002-7249-9096
AD  - Department of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran.
LA  - eng
PT  - Journal Article
DEP - 20211101
PL  - England
TA  - Proc Inst Mech Eng H
JT  - Proceedings of the Institution of Mechanical Engineers. Part H, Journal of 
      engineering in medicine
JID - 8908934
SB  - IM
MH  - Adaptation, Physiological
MH  - Electric Impedance
MH  - Humans
MH  - Mechanical Phenomena
MH  - *Robotics
MH  - Upper Extremity
OTO - NOTNLM
OT  - Impedance control
OT  - Lyapunov stability
OT  - adaptive control
OT  - rehabilitation robot
EDAT- 2021/11/02 06:00
MHDA- 2022/02/09 06:00
CRDT- 2021/11/01 08:44
PHST- 2021/11/02 06:00 [pubmed]
PHST- 2022/02/09 06:00 [medline]
PHST- 2021/11/01 08:44 [entrez]
AID - 10.1177/09544119211054919 [doi]
PST - ppublish
SO  - Proc Inst Mech Eng H. 2022 Mar;236(3):385-398. doi: 10.1177/09544119211054919. 
      Epub 2021 Nov 1.