Scholarlink

At present, ankle rehabilitation robot has some problems such as low degree of freedom and small travel range, which leads to the deficiency of ankle rehabilitation training. To address this issue, a fourth-order mathematical model has been established for the pneumatic 4-UPU robot system, providing a rough but accurate reference model. Additionally, a high-precision pose control algorithm based on the Auto-Disturbance Rejection Controller (ADRC) has been proposed. This algorithm is built on a nonlinear PID foundation and incorporates a tracking differentiator to achieve a fast and smooth transition process. Ultimately, an ADRC controller suitable for high-precision control of the pneumatic 4-UPU robot has been constructed.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Research on Key Technologies of Pneumatic 4-UPU Ankle Rehabilitation Robot

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Yu Liu,
  • Yuting Zhang,
  • Jie Yang,
  • Hanpu Tang

摘要

At present, ankle rehabilitation robot has some problems such as low degree of freedom and small travel range, which leads to the deficiency of ankle rehabilitation training. To address this issue, a fourth-order mathematical model has been established for the pneumatic 4-UPU robot system, providing a rough but accurate reference model. Additionally, a high-precision pose control algorithm based on the Auto-Disturbance Rejection Controller (ADRC) has been proposed. This algorithm is built on a nonlinear PID foundation and incorporates a tracking differentiator to achieve a fast and smooth transition process. Ultimately, an ADRC controller suitable for high-precision control of the pneumatic 4-UPU robot has been constructed.