Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/71240
Título: | Feedback-error learning control for powered assistive devices |
Autor(es): | Fernandes, Pedro Nuno Figueiredo, Joana Moreno, Juan C. Santos, Cristina |
Palavras-chave: | Gait rehabilitation Robotic assistive devices Human-centered robotics Feedback error learning control Neural network |
Data: | 2020 |
Editora: | Springer, Cham |
Revista: | IFMBE Proceedings |
Citação: | Fernandes P.N., Figueiredo J., Moreno J.C., Santos C.P. (2020) Feedback-Error Learning Control for Powered Assistive Devices. In: Henriques J., Neves N., de Carvalho P. (eds) XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. MEDICON 2019. IFMBE Proceedings, vol 76. Springer, Cham. https://doi.org/10.1007/978-3-030-31635-8_238 |
Resumo(s): | Active orthoses (AOs) are becoming relevant for user-oriented training in gait rehabilitation. This implies efficient responses of AO's low-level controllers with short time modeling for medical applications. This thesis investigates, in an innovative way, the performance of Feedback-Error Learning (FEL) control to time-effectively adapt the AOs' responses to user-oriented trajectories and changes in the dynamics due to the interaction with the user. FEL control comprises a feedback PID controller and a neural network feedforward controller to promptly learn the inverse dynamics of two AOs. It was carried out experiments with able-bodied subjects walking on a treadmill and considering external disturbances to user-AO interaction. Results showed that the FEL control effectively tracked the user-oriented trajectory with position errors between 5% to 7%, and with a mean delay lower than 25 ms. Compared to a single PID control, the FEL control decreased by 16.5% and 90.7% the position error and delay, respectively. Moreover, the feedforward controller was able to learn the inverse dynamics of the two AOs and adapt to variations in the user-oriented trajectories, such as speed and angular range, while the feedback controller compensated for random disturbances. FEL demonstrated to be an efficient low-level controller for controlling AOs during gait rehabilitation. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/71240 |
ISBN: | 978-3-030-31634-1 |
e-ISBN: | 978-3-030-31635-8 |
DOI: | 10.1007/978-3-030-31635-8_238 |
ISSN: | 1680-0737 |
Versão da editora: | https://link.springer.com/chapter/10.1007%2F978-3-030-31635-8_238 |
Arbitragem científica: | yes |
Acesso: | Acesso aberto |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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PedroNuno_MEDICON_2019_repositorium.pdf | 1,03 MB | Adobe PDF | Ver/Abrir |