A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Brahmi, Brahim; Bojairami, Ibrahim El; Ahmed, Tanvir; Swapnil, Asif Al Zubayer; Assaduzzaman, Mohammad; Wang, Inga; McGonigle, Erin; Rahman, Mohammad Habibur

doi:10.3390/mi12060597

Cited by 3 publications

(3 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Consider the estimator D ^ ( t − t d ) , if Assumptions 1 and 2 are verified, from equation (3), D ^ ( t − t d ) can be defined as follows 21…”

Section: Application Of Differential Flatness For Nonlinear Dynamic S...mentioning

confidence: 99%

“…To overcome the abovementioned problems, flatness-based control strategy combined with time-delay estimation (TDE) approach 21,22 is proposed in this work. The controller designed benefits a highly tracking performance of flatness and provides an accurate estimation of unknown dynamics using TDE for control of an upper limb exoskeleton robot.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Flatness tracking control scheme of rehabilitation exoskeleton robot with dynamic uncertainties

Bououden

Brahmi

Rahman

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

Artificial limbs are new robotic devices created to help stroke victims in the rehabilitation process. In this article, we focus our work on applying passive, active or assistive control strategies to provide a physical assistance and rehabilitation by a 7-degree-of-freedom exoskeleton robot with nonlinear uncertain dynamics and unknown bounded external disturbances due to the robot user’s physiological characteristics. The flatness controller combined with time-delay estimation is designed for the 7-degree-of-freedom exoskeleton robot called ETS-MARSE (Ecole de Technologie Supérieure—Motion Assistive Robotic-exoskeleton for Superior Extremity) in order to ensure a passive rehabilitation exercises with a high level of tracking accuracy and robustness against the uncertainty constraints. The stability analysis of such systems is proven using the Lyapunov–Krasovskii functional theory. This approach is illustrated by experimental results with healthy human to highlight the efficiency of the suggested controller scheme.

show abstract

“…Consider the estimator D ^ ( t − t d ) , if Assumptions 1 and 2 are verified, from equation (3), D ^ ( t − t d ) can be defined as follows 21…”

Section: Application Of Differential Flatness For Nonlinear Dynamic S...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Flatness tracking control scheme of rehabilitation exoskeleton robot with dynamic uncertainties

Bououden

Brahmi

Rahman

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

Self Cite

View full text Add to dashboard Cite

show abstract

“…Robotic device-aided upper limb rehabilitation has been very popular for reducing the burden of going through therapy [17][18][19][20][21][22][23][24]. This mode of rehabilitation has shown great promise among therapeutic interventions.…”

Section: Introductionmentioning

confidence: 99%

Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device

et al. 2021

Self Cite

View full text Add to dashboard Cite

Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aided portable devices have gained much traction these days in hand rehabilitation. However, existing devices fall short in allowing some key natural movements, which are crucial to achieving full potential motion in performing activities of daily living. Firstly, existing exoskeleton type devices often restrict or suffer from uncontrolled wrist and forearm movement during finger exercises due to their setup of actuation and transmission mechanism. Secondly, they restrict passive metacarpophalangeal (MCP) abduction–adduction during MCP flexion–extension motion. Lastly, though a few of them can provide isolated finger ROM, none of them can offer isolated joint motion as per therapeutic need. All these natural movements are crucial for effective robot-aided finger rehabilitation. To bridge these gaps, in this research, a novel lightweight robotic device, namely “Flexohand,” has been developed for hand rehabilitation. A novel compliant mechanism has been developed and included in Flexohand to compensate for the passive movement of MCP abduction–adduction. The isolated and composite digit joint flexion–extension has been achieved by integrating a combination of sliding locks for IP joints and a wire locking system for finger MCP joints. Besides, the intuitive design of Flexohand inherently allows wrist joint movement during hand digit exercises. Experiments of passive exercises involving isolated joint motion, composite joint motions of individual fingers, and isolated joint motion of multiple fingers have been conducted to validate the functionality of the developed device. The experimental results show that Flexohand addresses the limitations of existing robot-aided hand rehabilitation devices.

show abstract

Adaptive Control of an Electrically Driven Exoskeleton Robot (Theory and Experiments)

Brahmi

Saad

2022

J. Vib. Eng. Technol.

View full text Add to dashboard Cite

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

Cited by 3 publications

References 32 publications

Flatness tracking control scheme of rehabilitation exoskeleton robot with dynamic uncertainties

Flatness tracking control scheme of rehabilitation exoskeleton robot with dynamic uncertainties

Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device

Adaptive Control of an Electrically Driven Exoskeleton Robot (Theory and Experiments)

Contact Info

Product

Resources

About