Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics

Brahmi, Brahim; Saad, Maarouf; Rahman, Mohammad Habibur; Ochoa-Luna, Cristóbal

doi:10.1109/tsmc.2017.2695003

Cited by 68 publications

(59 citation statements)

References 30 publications

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“…This mechanism consists of a parallelogram assembly and a transmission that supports forearm supination and pronation. A study conducted in Reference [95] has presented the kinematic compatibility of the shoulder mechanism over a wide ROM. The anatomical compatibility was quantified by measuring the residual forces in the interaction port during the coordinated shoulder movements.…”

Section: Upper-body Exoskeleton For Rehabilitation (Harmony)mentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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Section: Upper-body Exoskeleton For Rehabilitation (Harmony)mentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…Chaturvedi and McClamroch [2009]); exoskeleton tracking (c.f. Brahmi et al [2019]); multiagent synchronization (c.f. Markdahl et al [2018]); formation control (c.f.…”

Section: Motivation and Problem Statementmentioning

confidence: 99%

Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors

Casau

Mayhew²,

Sanfelice

et al. 2019

Automatica

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In this paper, we design a hybrid controller that globally exponentially stabilizes a system evolving on the n-dimensional sphere, denoted by S n . This hybrid controller is induced by a "synergistic" collection of potential functions on S n . We propose a particular construction of this class of functions that generates flows along geodesics of the sphere, providing convergence to the desired reference with minimal path length. We show that the proposed strategy is suitable to the exponential stabilization of a quadrotor vehicle.

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“…In the hypothesis that The time history of the trajectory in the joint space β(t) = c −1 (y(t)) can be obtained by integrating the control scheme in Figure 8, much easier than the ones proposed in ( [10,11,13,33] and the related references therein), where:…”

Section: Cases Studymentioning

confidence: 99%

“…Taking also into account that the computation time for feedback linearization or control signal generation by the inverse model or MPC techniques is non-negligible, these simplified hypotheses make the above mentioned techniques not always reliable (see [4][5][6]8,10,14,15,20,[23][24][25]29,31,33,37,40,41]. In some cases, the control system can even be unstable, as can be verified with simple examples (see also Appendix A).…”

Section: Introductionmentioning

confidence: 99%

“…Finally, it is included an appendix in which six easy examples are provided. The first five ones clearly show how numerous control techniques available in the literature (e.g., [10,14,15,20,[23][24][25]29,31,33,[41][42][43] and the references therein) for significant classes of linear and nonlinear systems can produce unstable control system or can significantly reduce the performance of the control system, under the following realistic hypotheses: parametric uncertainties, real actuators, measurement noise, finite online computation time of the control signal.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

Celentano¹

2018

Applied Sciences

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Featured Application: Design and realization of robust, simple and effective controllers, mainly for the transportation and manufacturing systems.Abstract: This paper presents new theorems, which allow to design in a unified way robust proportional-derivative (PD)-type control laws without chattering for a broad class of uncertain nonlinear multi-input multi-output (MIMO) systems, subject to bounded disturbances and noises, of great theoretical and engineering relevance. These controllers are used to track a reference signal with bounded second derivative with the tracking error norm smaller than a prescribed value. The proposed control laws are simple to design and implement, above all for robotic systems, both in the case of a trajectory assigned in the joint space and in the workspace. The obtained theoretical results can have numerous applications. In this paper four significant applications are provided. The first one concerns the solution of a nonlinear equations system or the determination of an equilibrium point of a nonlinear system. The second case study deals with the inversion of a nonlinear vectorial function or the kinematic inversion of a robot. The third application concerns: (A) the tracking control of a robot with parametric uncertainties, with and without measurement noise on velocity, both in the joint space and the workspace; (B) the impedance control of a robot interacting with a human operator. The fourth case study addresses the tracking control of an uncertain nonlinear system that does not belong to the class of mechanical systems. Finally, an appendix is included, providing six easy examples, which show how the results proposed in the paper can eliminate and/or reduce serious disadvantages existing in the robust control literature for significant classes of linear and nonlinear uncertain systems.Keywords: general robust tracking control method; design of robust proportional-derivative-type controller; practical robust stability; robust control of mechanical uncertain systems; impedance control of a robot

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Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics

Cited by 68 publications

References 30 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Robust global exponential stabilization on the n-dimensional sphere with applications to trajectory tracking for quadrotors

A Unified Approach to Design Robust Controllers for Nonlinear Uncertain Engineering Systems

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