Metaheuristic methods optimized HSMC control of a multi dof hand and wrist rehabilitation robot design
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Dosyalar
Tarih
2025
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Konya Teknik Univ
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
Rehabilitation is a process that aims to restore individuals to full functionality following an injury or illness that has compromised their ability to perform daily activities. A significant challenge in addressing these needs is the selection of robotic devices that can adequately respond to the complex requirements of rehabilitation. This study presents a simulation study for the position control of the wrist and fingers using Hierarchical Sliding Mode Control (HSMC) that is optimized via metaheuristic algorithms. A novel hierarchical approach is applied that is optimized with Particle Swarm Optimization (PSO) and Differential Evolution (DE) algorithms. The model was simulated under disturbances to track the desired trajectory. Simulation results are compared with Hierarchical PID controller results. The findings demonstrate that HSMC-based control effectively improve trajectory tracking, reducing mean absolute and normalized root mean square (NRMS) errors compared to HPID controllers. The proposed approach shows promising potential for real implementation, enhancing the efficiency of rehabilitation devices.
Açıklama
Anahtar Kelimeler
Rehabilitation robot, Hierarchical sliding mode control (HSMC), Hand rehabilitation, Particle swarm optimization (PSO), Differential evolution (DE)
Kaynak
KONYA JOURNAL OF ENGINEERING SCIENCES
WoS Q Değeri
Q4
Scopus Q Değeri
Cilt
13
Sayı
4
