MPC-PID comparison for controlling therapeutic upper limb rehabilitation robot under perturbed conditions

摘要

Increase in the number of stroke patients upsurges the need of rehabilitation robots. It's the ability of human muscles to recover from stroke if it performs certain movements repetitively and robots are the best way to perform repetitive tasks. In this study, a 3 degree of freedom (3DOF) upper limb rehabilitation robot has been developed to recover the patient who have impaired limb, physical trauma or hit by a stroke. In therapeutic exercise robots, the position accuracy and stability are two major concerns, how effectively exercise is being performed and how much stable robot is from external disturbances. To ensure that, an analysis has been performed on a comparison of PID (Proportional integral and derivative) and MPC (Model Predictive Control) control algorithms to find out which control algorithm is most suitable for upper limb rehabilitation robots.