Control of an exoskeleton robot arm with sliding mode exponential reaching law

Rahman, Mohammad Habibur; Saad, Maarouf; Kenné, Jean‐Pierre; Archambault, P.

doi:10.1007/s12555-011-0135-1

Cited by 106 publications

(54 citation statements)

References 29 publications

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“…In addition, misalignments between human and robot joint axes can also occur as a result of ignoring the motion of ICR in the exoskeleton robot [118]. There have been developed a plenty of exoskeletons that used a simple ball and socket joint in producing shoulder movement [56,87,101,102,106].…”

Section: Past Workmentioning

confidence: 99%

“…Also it requires equipment to reduce noise, what makes system more complex. To actuate the upper limb exoskeletons, electrical motors have been used in most devices [27,76,77,93,97,101,102] since electrical motors can produce large amount of torque and highly precise motion despite they are heavy compared to other two. The actuators to be used in exoskeleton should (a) be light (b) have high operating bandwidth (c) capable of producing precise motion and (d) deliver large amount of torque.…”

Section: Actuation Mechanismmentioning

confidence: 99%

“…The centrifugal and Coriolis forces, and friction at joints causes non-linearity to appear in exoskeleton's manipulator dynamics. Therefore, unlike control approach used in industrial robotics, controlling of upper arm exoskeleton necessities non-linear control strategy [102]. In rehabilitation, robotic devices have been deployed to assist patients after stroke to move their impaired limb through a pre-defined trajectory.…”

Section: Control Issuesmentioning

confidence: 99%

See 2 more Smart Citations

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

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Section: Past Workmentioning

confidence: 99%

Section: Actuation Mechanismmentioning

confidence: 99%

Section: Control Issuesmentioning

confidence: 99%

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A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

et al. 2017

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“…Reasonable selection of materials is an effective way to achieve lightweight [13]. The commonly used service robot connecting rod material is 2A12 aluminium alloy.…”

Section: Mechanical Arm Structure Of the Materials Lightweightmentioning

confidence: 99%

Design and Optimization of Arm Structure for Mobile Medical Service Robot Based on Multi - Target Particle Swarm Optimization

2017

IJOMAM

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-In order to apply the robot to medical institution, a mobile medical service robot arm is designed. Firstly, according to the design requirements and the ergonomic theory, the various configurations of the mechanical arm are analysed. The optimal configuration of the mechanical arm is obtained by using the global relative manipulability value as the index. Secondly, according to the application and function of mobile service robot, the maximum working space distance index, static stiffness performance index and global velocity fluctuation performance index of arm performance are proposed. On this basis, the mathematical function model of robot arm size optimization is established. Finally, according to the characteristics of the multi-objective and multi-constraint of the optimization function model, the multi-objective particle swarm optimization algorithm based on the Pareto dominance principle is chosen as the solving method. The results show that the size optimization is very effective in reducing the speed fluctuation of the mechanical arm during motion. Therefore, through the combination of topology optimization and size optimization, the mechanical arm has the characteristics of high stiffness, light weight, flexible and stable.

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“…When passive, the wearer voluntary movement tends to be limited since the lower-limb rehabilitation device is only designed to assist the user to follow predefined movement patterns with the aid of certain control methods. Although this method has been proven to be an effective therapeutic measure [10,11], the need for patients to be actively involved in robotic therapy brings about more success in the results obtained [12]. One rehabilitative method which further validates this proof is the "assist-asneeded" paradigm [13,14].…”

Section: Introductionmentioning

confidence: 97%

Bounded Control of an Actuated Lower-Limb Exoskeleton

Ajayi

Djouani

Hamam

2017

Journal of Robotics

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A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands for a bounded human torque; that is, ℎ ≤ 2, ≤ 1, . The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis. Simulations are performed to verify the proposed control law. Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory.

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Control of an exoskeleton robot arm with sliding mode exponential reaching law

Cited by 106 publications

References 29 publications

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

A Brief Review on Robotic Exoskeletons for Upper Extremity Rehabilitation to Find the Gap between Research Porotype and Commercial Type

Design and Optimization of Arm Structure for Mobile Medical Service Robot Based on Multi - Target Particle Swarm Optimization

Bounded Control of an Actuated Lower-Limb Exoskeleton

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