Autori
Francesco Amato, Domenico Colacino, Carlo Cosentino and Alessio Merola
Abstract
In this tals, a trajectory tracking controller for a rehabilitation robot driven by pneumatic artificial muscles is designed and experimentally tested. A model of the robot including the nonlinear dynamics of the actuators is employed in a feedforward control loop in order to compensate for the nonlinearities. The developed control law also includes a feedback control action implemented by a PID controller, responsible for the robust regulation of the tracking error to zero. The experimental tests show that a satisfactory tracking performance can be achieved during some sessions of robotic rehabilitation.
