A Control Method for a 3DOF Bi-articular Manipulator towards Robotic Rehabilitation

This paper investigates passivity-based control for a 3DOF manipulator with antagonistic bi-articular muscles towards robotic rehabilitation. The dynamics of a 3DOF manipulator with antagonistic bi-articular muscles is obtained from the 3DOF standard robot dynamics and the visco-elastic muscle model. In our approach, we design a input torque for the 3DOF bi-articular manipulator to preserve the passivity property. Stability analysis for the closed-loop system of the constructed error system and the proposed control law is discussed through Lyapunov stability theorem.