Active Disturbance Rejection Control for a Fluid-Driven Hand Rehabilitation Device

• Published in: IEEE/ASME transactions on mechatronics Vol. 26; no. 2; pp. 841 - 853
• Main Authors: Li, Houcheng, Cheng, Long, Li, Zhengwei, Xue, Wenchao
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Active disturbance rejection control; Actuators; Algorithms; Control methods; Elastomers; Exoskeletons; extended state observer; extension motion; Fluid pressure; hand rehabilitation; IEEE transactions; Mechatronics; parameter selection; Parameters; Performance evaluation; Proportional integral; Rehabilitation; Rejection; State observers; steady-state performance; Training; transient

This article proposes a new hand rehabilitation device to help therapists repetitively perform hand group stretching training for poststroke patients. The actuator of the proposed device is made of elastomeric materials, driven by fluid pressure, and put onto the surface of a glove. Compared to the...