Previous Article in Journal
Quadratic Programming Vision-Based Control of a Scale-Model Autonomous Vehicle Navigating in Intersections
Previous Article in Special Issue
A Novel Principle for Transparent Applications of Force Impulses in Cable-Driven Rehabilitation Systems
 
 
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Identification and Fuzzy Control of the Trajectory of a Parallel Robot: Application to Medical Rehabilitation

by
Elihu H. Ramirez-Dominguez
,
José G. Benítez-Morales
,
Jesus E. Cervantes-Reyes
,
Ma. de los Angeles Alamilla-Daniel
,
Angel R. Licona-Rodríguez
,
Juan M. Xicoténcatl-Pérez
and
Julio Cesar Ramos-Fernández
*
The Graduate Department of Mechatronics, Universidad Politécnica de Pachuca, Carr. Pachuca-Cd. Sahagún Km. 20, Zempoala PC 43830, Hidalgo, Mexico
*
Author to whom correspondence should be addressed.
Actuators 2025, 14(10), 495; https://doi.org/10.3390/act14100495 (registering DOI)
Submission received: 19 August 2025 / Revised: 27 September 2025 / Accepted: 30 September 2025 / Published: 13 October 2025

Abstract

A specific challenge in robotic control applications is the identification and regulation of actuators that provide mechanical traction and motion to the robot links. The design of actuator control laws, grounded in parametric identification and experimental motor characterization, enables numerical simulations to explore diverse operating scenarios. This article presents the initial phases in the development of a robotic rehabilitation system, focused on the kinematic modeling of a parallelogram-configuration robot for upper-limb therapy, the fuzzy identification of its actuators, and their closed-loop evaluation using a fuzzy Parallel Distributed Compensation (PDC) controller with state feedback (Ackermann), whose poles are optimized via the Grey Wolf Optimizer (GWO) metaheuristic. This controller was selected for its congruence with the nonlinear universe of discourse defined by the identified model, a key feature for operation within specific functional ranges in medical applications. The simulation and hardware platform results provide evidence that fuzzy dynamic models constitute a valuable tool for application in rehabilitation systems. This work serves as a foundation for future physical implementations with the fully coupled robotic system, in order to ensure operational safety prior to the start of clinical trials.
Keywords: fuzzy identification and control; parallelogram robot; upper extremity rehabilitation; inverse kinematics; actuator dynamics; grey wolf optimizer fuzzy identification and control; parallelogram robot; upper extremity rehabilitation; inverse kinematics; actuator dynamics; grey wolf optimizer

Share and Cite

MDPI and ACS Style

Ramirez-Dominguez, E.H.; Benítez-Morales, J.G.; Cervantes-Reyes, J.E.; Alamilla-Daniel, M.d.l.A.; Licona-Rodríguez, A.R.; Xicoténcatl-Pérez, J.M.; Ramos-Fernández, J.C. Identification and Fuzzy Control of the Trajectory of a Parallel Robot: Application to Medical Rehabilitation. Actuators 2025, 14, 495. https://doi.org/10.3390/act14100495

AMA Style

Ramirez-Dominguez EH, Benítez-Morales JG, Cervantes-Reyes JE, Alamilla-Daniel MdlA, Licona-Rodríguez AR, Xicoténcatl-Pérez JM, Ramos-Fernández JC. Identification and Fuzzy Control of the Trajectory of a Parallel Robot: Application to Medical Rehabilitation. Actuators. 2025; 14(10):495. https://doi.org/10.3390/act14100495

Chicago/Turabian Style

Ramirez-Dominguez, Elihu H., José G. Benítez-Morales, Jesus E. Cervantes-Reyes, Ma. de los Angeles Alamilla-Daniel, Angel R. Licona-Rodríguez, Juan M. Xicoténcatl-Pérez, and Julio Cesar Ramos-Fernández. 2025. "Identification and Fuzzy Control of the Trajectory of a Parallel Robot: Application to Medical Rehabilitation" Actuators 14, no. 10: 495. https://doi.org/10.3390/act14100495

APA Style

Ramirez-Dominguez, E. H., Benítez-Morales, J. G., Cervantes-Reyes, J. E., Alamilla-Daniel, M. d. l. A., Licona-Rodríguez, A. R., Xicoténcatl-Pérez, J. M., & Ramos-Fernández, J. C. (2025). Identification and Fuzzy Control of the Trajectory of a Parallel Robot: Application to Medical Rehabilitation. Actuators, 14(10), 495. https://doi.org/10.3390/act14100495

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop