Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller

Soraya Bououden; Brahim Brahmi; Mohammad Habibur Rahman

doi:10.1109/SSD54932.2022.9955692

Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller

Soraya Bououden
, Brahim Brahmi
, Mohammad Habibur Rahman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.

Original language	English
Title of host publication	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1899-1905
Number of pages	7
ISBN (Electronic)	9781665471084
DOIs	https://doi.org/10.1109/SSD54932.2022.9955692
State	Published - 2022
Externally published	Yes
Event	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 - Setif, Algeria Duration: 6 May 2022 → 10 May 2022

Publication series

Name	2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022

Conference

Conference	19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022
Country/Territory	Algeria
City	Setif
Period	6/05/22 → 10/05/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Differential flatness
Normal form
Rehabilitation robots
iTbot
portability

ASJC Scopus subject areas

Instrumentation
Computer Networks and Communications
Hardware and Architecture
Signal Processing
Electrical and Electronic Engineering
Mechanical Engineering
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSD54932.2022.9955692

Cite this

Bououden, S., Brahmi, B., & Rahman, M. H. (2022). Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller. In 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 (pp. 1899-1905). (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD54932.2022.9955692

Bououden, Soraya ; Brahmi, Brahim ; Rahman, Mohammad Habibur. / Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller. 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 1899-1905 (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022).

@inproceedings{55ca80e728574491b8cc22215d5aa0e0,

title = "Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller",

abstract = "This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.",

keywords = "Differential flatness, Normal form, Rehabilitation robots, iTbot, portability",

author = "Soraya Bououden and Brahim Brahmi and Rahman, \{Mohammad Habibur\}",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022 ; Conference date: 06-05-2022 Through 10-05-2022",

year = "2022",

doi = "10.1109/SSD54932.2022.9955692",

language = "English",

series = "2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1899--1905",

booktitle = "2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022",

address = "United States",

}

Bououden, S, Brahmi, B & Rahman, MH 2022, Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller. in 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Institute of Electrical and Electronics Engineers Inc., pp. 1899-1905, 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022, Setif, Algeria, 6/05/22. https://doi.org/10.1109/SSD54932.2022.9955692

Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller. / Bououden, Soraya; Brahmi, Brahim; Rahman, Mohammad Habibur.
2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 1899-1905 (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This study presents a flatness-based controller with fuzzy logic controller combined for controlling the artificial limb 2-DOF portable end-effector type therapeutic robot called iTbot (intelligent therapeutic robot). Compared with the most developed rehabilitation robots, this prototype has been operated at multiple manually selectable orientations to implement a wide range of robot-aided exercises for stroke survivors. To provide effective rehabilitation along with the physical therapy activities, we present the differential geometry transformations of the system to obtain triangu-lar canonical normal forms incorporated with fuzzy pre-compensator to achieve a high speed and high precision of specified trajectory. Simulations results show the efficiency of the suggested controller scheme.

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KW - Normal form

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KW - portability

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M3 - Conference contribution

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Bououden S, Brahmi B, Rahman MH. Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller. In 2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 1899-1905. (2022 19th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2022). doi: 10.1109/SSD54932.2022.9955692

Flatness Design Control for Therapeutic Robot Based on Fuzzy Controller

Abstract

Publication series

Conference

Bibliographical note

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this