Model predictive control for upper limb rehabilitation robotic system under disturbed condition

摘要

Demands for rehabilitation robots are now increasing day by day due to increase in the number of patients with neural disorder. These robots help the patients in therapeutic exercise performing specific movements which leads to mitigating neural disorders through a gradual improvement of the patients’ limb performances. As robots are the best suitable options to perform repetitive tasks without the risks of monotony and fatigue failure, rehabilitation via robots have proven to be more of a comfortable exercise than an exhausting treatment procedure. Rehabilitation robots require precise and efficient control in terms of position and force, ensuring thus accuracy in exercise movements. Nonlinear controllers make good option to this end as they adapt to handle the system uncertainties. This paper presents a Model Predictive Control (MPC) to control the rehabilitation robot for upper limb extremity under various disturbed conditions. From the results MPC proves to be robust controller under the action of applied external disturbances.