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Development of Learning Control Strategies for a Cable-Driven Device Assisting a Human Joint

thesis
posted on 25.11.2019 by Hao Xiong
There are millions of individuals in the world who currently experience limited mobility as a result of aging, stroke, injuries to the brain or spinal cord, and certain neurological diseases. Robotic Assistive Devices (RADs) have shown superiority in helping people with limited mobility by providing physical movement assistance. However, RADs currently existing on the market for people with limited mobility are still far from intelligent.

Learning control strategies are developed in this study to make a Cable-Driven Assistive Device (CDAD) intelligent in assisting a human joint (e.g., a knee joint, an ankle joint, or a wrist joint). CDADs are a type of RADs designed based on Cable-Driven Parallel Robots (CDPRs). A PID–FNN control strategy and DDPG-based strategies are proposed to allow a CDAD to learn physical human-robot interactions when controlling the pose of the human joint. Both pose-tracking and trajectory-tracking tasks are designed to evaluate the PID–FNN control strategy and the DDPG-based strategies through simulations. Simulations are conducted in the Gazebo simulator using an example CDAD with three degrees of freedom and four cables. Simulation results show that the proposed PID–FNN control strategy and DDPG-based strategies work in controlling a CDAD with proper learning.

History

Degree Type

Doctor of Philosophy

Department

Technology

Campus location

West Lafayette

Advisor/Supervisor/Committee Chair

Dr. Xiumin Diao

Additional Committee Member 2

Dr. Duane Dunlap

Additional Committee Member 3

Dr. Daniel Leon-Salas

Additional Committee Member 4

Dr. Suranjan Panigrahi

Additional Committee Member 5

Dr. Haiyan Zhang

Licence

Exports