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International Conference on Intelligent Robotics and Applications

ICIRA 2022: Intelligent Robotics and Applications pp 232–244Cite as

Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13456))

Abstract

The wrist tremor suppression system designed based on functional electrical stimulation technology has been welcomed by the majority of tremor patients as a non-invasive rehabilitation therapy. Due to the complex physiological structure characteristics of the wrist musculoskeletal system, it is difficult to accurately model it, and the measurement noise at the output port of the wrist tremor suppression system is difficult to avoid. These problems seriously affect the performance of tremor suppression. In order to solve the above problems, an improved linear active disturbance rejection control (LADRC) scheme is proposed based on the cascade strategy. The simulation results show that the proposed improved cascade LADRC can not only meet the requirements of system control performance against model uncertainty, but also attenuate the influence of output noise on the system, so as to effectively improve the suppression performance of tremor.

Supported by National Natural Science Foundation of China (62103376), Robot Perception and Control Support Program for Outstanding Foreign Scientists in Henan Province of China (GZS2019008), China Postdoctoral Science Foundation (2018M632801) and Science & Technology Research Project in Henan Province of China (212102310253).

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Authors and Affiliations

  1. School of Electrical and Information Engineering, Zhengzhou University, Zhengzhou, 450001, China

    Changchun Tao, Zan Zhang, Benyan Huo, Yanhong Liu & Hongnian Yu

  2. College of Computer and Communication Engineering, Zhengzhou University of Light Industry, Zhengzhou, 450001, China

    Jianyong Li

  3. School of Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, EH11 4BN, UK

    Hongnian Yu

Authors
  1. Changchun Tao
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  2. Zan Zhang
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  3. Benyan Huo
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  4. Yanhong Liu
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  5. Jianyong Li
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  6. Hongnian Yu
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Corresponding author

Correspondence to Zan Zhang .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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Tao, C., Zhang, Z., Huo, B., Liu, Y., Li, J., Yu, H. (2022). Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_21

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  • DOI: https://doi.org/10.1007/978-3-031-13822-5_21

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-031-13822-5

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