Cargando…

Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications

This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time d...

Descripción completa

Detalles Bibliográficos
Autores principales: Aggogeri, Francesco, Amici, Cinzia, Pellegrini, Nicola
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7074648/
https://www.ncbi.nlm.nih.gov/pubmed/32012809
http://dx.doi.org/10.3390/mi11020141
_version_ 1783506881674739712
author Aggogeri, Francesco
Amici, Cinzia
Pellegrini, Nicola
author_facet Aggogeri, Francesco
Amici, Cinzia
Pellegrini, Nicola
author_sort Aggogeri, Francesco
collection PubMed
description This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile.
format Online
Article
Text
id pubmed-7074648
institution National Center for Biotechnology Information
language English
publishDate 2020
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-70746482020-03-20 Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications Aggogeri, Francesco Amici, Cinzia Pellegrini, Nicola Micromachines (Basel) Article This study compares a set of strategies to plan and control the trajectory of a robotic device in a planar workspace. These strategies are based on an affective application of jerk-laws able to indicate undesirable conditions (e.g., vibrations) facilitating the device control. The jerk is the time derivative of acceleration, and this solution provides an indirect means to control the variation rate of the actuator torques, while avoiding the complex robot dynamic models and their algorithms for computing the dynamics. In order to obtain a smooth trajectory, a regulator to control a robotic device has been developed and validated. It consists of the implementation of two control modules able to (i) generate the predefined trajectory and (ii) guarantee the path tracking, reducing unwanted effects. In this case a simple S-shaped path has been originated by the “trajectory generator module” as a reference movement to rehabilitate upper limb functionality. The numerical simulation and the results of preliminary tests show the efficacy of the proposed approach through the vibration smoothness appraisal associated with the motion profile. MDPI 2020-01-28 /pmc/articles/PMC7074648/ /pubmed/32012809 http://dx.doi.org/10.3390/mi11020141 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Aggogeri, Francesco
Amici, Cinzia
Pellegrini, Nicola
Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title_full Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title_fullStr Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title_full_unstemmed Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title_short Dual Control for Jerk-Driven Robotics in Rehabilitative Planar Applications
title_sort dual control for jerk-driven robotics in rehabilitative planar applications
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7074648/
https://www.ncbi.nlm.nih.gov/pubmed/32012809
http://dx.doi.org/10.3390/mi11020141
work_keys_str_mv AT aggogerifrancesco dualcontrolforjerkdrivenroboticsinrehabilitativeplanarapplications
AT amicicinzia dualcontrolforjerkdrivenroboticsinrehabilitativeplanarapplications
AT pellegrininicola dualcontrolforjerkdrivenroboticsinrehabilitativeplanarapplications