Regressor-free force/position control of fixed-base exoskeletons for rehabilitation tasks

Lugo-Villeda, Luis I.; Frisoli, Antonio; Parra-Vega, Vicente; Bergamasco, Massimo

doi:10.1109/iros.2009.5354568

Cited by 7 publications

(5 citation statements)

References 13 publications

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“…Despite of these impressive achievements regarding exoskeletons, it has been said, they are in the early stage due to the involved fields that need being enhanced [15]. Nevertheless, as long as we unify important concepts with their associated technology, new trends along the technological innovation stream are arising for exploiting at maximum the application of such devices into rehabilitation fields.…”

Section: Contribution To Technological Innovationmentioning

confidence: 99%

“…This field is required and innovative into this platform; because of the applications of several nonlinear controllers have demonstrated better performance than linear ones as used on the related work [15]. The whole energy of the system should remain passive (controlled) all time, and these nonlinear controllers gather that condition.…”

Section: Involved Technologies Knowledge and Their Trends To The Innmentioning

confidence: 99%

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Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

Lugo-Villeda

Frisoli

Sotgiu

et al. 2010

IFIP Advances in Information and Communication Technology

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Abstract. Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic characteristics are quite useful for applications where repetitive, robustness and accurate performance are a must. As a part of robotic-mediatedrehabilitation programme into the worldwide, the exoskeletons are trying to improve the ADL of disable people through the fusion of several disciplines that lets to expand the capabilities of wearing a powered robotic exoskeletal device for rehabilitation tasks. This fact deserves to present this contribution from a general scope point of view, i.e., the technologies integration and its associated knowledge. So far, the Light-Exoskeleton which is intended for human arm rehabilitation in post-stroke patients is introduced. Preliminary experimental results as well as the involved stages about the system show the capabilities of using a robotic-constrained-rehabilitation for human arm.

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Section: Contribution To Technological Innovationmentioning

confidence: 99%

Section: Involved Technologies Knowledge and Their Trends To The Innmentioning

confidence: 99%

Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

Lugo-Villeda

Frisoli

Sotgiu

et al. 2010

IFIP Advances in Information and Communication Technology

Self Cite

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“…Fuzzy or neural network [23] [24] approaches are used to approximate the uncertain dynamics but still, external disturbances do affect the tracking results. Some researchers used sliding mode controllers (SMC) [25][26] to control the exoskeleton. Two types of controllers are proposed by Banala et al [27].…”

Section: Introductionmentioning

confidence: 99%

RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility

Sherwani

Kumar

Chemori

et al. 2020

Robotics and Autonomous Systems

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• An adaptive RISE control strategy is developed for the flexion/extension of the knee joint • Stability analysis of the human-exoskeleton system is provided using Lyapunov theory • Comparative analysis is performed between standard adaptive, RISE and adaptive RISE controllers • Different environment conditions are applied to the human-exoskeleton system to check the robustness of the controller

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“…Jiang et al 9 presented a neuron proportional-integral-derivative (PID) controller combined with feedforward control for the position tracking control of an upper limb rehabilitation robot driven by pneumatic muscles. Lugo-Villeda et al 10,11 developed a regressor-free PID-like fast and robust force/position tracking controller to ensure finitetime convergence within second-order sliding modes. Frisoli et al 12 proposed an adaptive proportionalintegral (PD) sliding mode controller to provide ''assistance as needed'' training to disable patients.…”

Section: Introductionmentioning

confidence: 99%

Modeling and position control of a therapeutic exoskeleton targeting upper extremity rehabilitation

Wang

et al. 2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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The applications of robotics and automation technology to the therapies of neuromuscular and orthopedic impairments have received increasing attention due to their promising prospects. In this paper, we present an actuated upper extremity exoskeleton aimed to facilitate the rehabilitation training of the disable patients. A modified sliding mode control strategy incorporating a proportional-integral-derivative sliding surface and a fuzzy hitting control law is developed to ensure robust and optimal position control performance. Dynamic modeling of the exoskeleton as well as the human arm is presented and then applied to the development of the fuzzy sliding mode control algorithm. A theoretical proof of the stability and convergence of the closed-loop system is presented using the Lyapunov theorem. Three typical real-time position control experiments are conducted with the aim of evaluating the effectiveness of the proposed control scheme. The performances of the fuzzy sliding mode control algorithm are compared to those of conventional proportional-integral-derivative controller and conventional sliding mode control algorithm. The experimental results indicate that the position control with fuzzy sliding mode control algorithm has a bandwidth about 4 Hz during operation. Furthermore, this control approach can guarantee the best control performances in term of tracking accuracy, response speed, and robustness against external disturbances.

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Regressor-free force/position control of fixed-base exoskeletons for rehabilitation tasks

Cited by 7 publications

References 13 publications

Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

Right-Arm Robotic-Aided-Therapy with the Light-Exoskeleton: A General Overview

RISE-based adaptive control for EICoSI exoskeleton to assist knee joint mobility

Modeling and position control of a therapeutic exoskeleton targeting upper extremity rehabilitation

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