Adaptive Iterative Learning Control design for RUPERT IV

An adaptive robot control strategy combining PID-based feedback and Iterative Learning Controller (ILC) is proposed for performing passive reaching tasks for RUPERTtrade (Robotic Upper Extremity Repetitive Therapy), a pneumatic muscle driven rehabilitation robotic device. Additionally, a fuzzy rule-...

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Bibliographic Details

Published in:	2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics pp. 647 - 652
Main Authors:	Ruihua Wei, Balasubramanian, S., Lihong Xu, Jiping He
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.10.2008
Subjects:	Adaptive control Control design Extremities Feedback Fuzzy Rule-Base Iterative Learning Control Medical treatment Muscles Pneumatic Muscle Actuator Programmable control Rehabilitation robotics Robot control Testing Upper Extremity
ISBN:	9781424428823, 1424428823
ISSN:	2155-1774
Online Access:	Get full text
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