Sliding mode control of a 5 dofs upper limb exoskeleton robot

Fellag, Ratiba; Benyahia, Takieddine; Drias, Mustapha; Guiatni, Mohamed; Hamerlain, Mustapha

doi:10.1109/icee-b.2017.8192098

Cited by 12 publications

(9 citation statements)

References 22 publications

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“…To address the nonlinear control challenges for exoskeleton, Zhu et al [13] proposed a nonlinear iterative learning control algorithm by introducing nonlinear saturation functions to tackle the uncertainties in motion control. Fellag et al [16] used sliding mode control to achieve accurate position control of a 5-DOF upper limb exoskeleton. The non-singular terminal sliding mode technique adopted by Madani et al [17] can achieve convergence in finite time and avoid singularity.…”

Section: Design and Control Of A Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Jointsmentioning

confidence: 99%

Design and Control of a Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Joints

Liu

Zhu

et al. 2021

IEEE Access

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Upper limb rehabilitation robot can effectively help patients recover motor ability. Existing rehabilitation robots are usually driven by rigid motors and the mechanical structures cannot adapt to the different patients with the different physical parameters and different rehabilitation needs. This paper designs a reconfigurable upper limb rehabilitation exoskeleton for elbow and wrist joints driven by pneumatic muscle actuators (PMAs). The exoskeleton can assist patients to achieve elbow flexion/extension, wrist flexion/ extension and adduction/abduction by integrating soft elbow and wrist joint modules which can work separately or together. The wrist joint can realize two degrees of freedom (2-DoF) movement via adjustable modules. To conquer the dynamic model errors and load disturbances when reconstructing the modular joints, a non-singular fast terminal sliding mode control method based on nonlinear disturbance observer (NFTSMC-NDO) is proposed, and a position/force hierarchical control method is formed to ensure the controllability of the soft modular robot. Experimental results show that the proposed method can achieve high-precision motion control of soft modular joints and provide reconfigurable assistance for patients, improving the adaptability and compliance of rehabilitation training.

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Section: Design and Control Of A Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Jointsmentioning

confidence: 99%

Design and Control of a Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Joints

Liu

Zhu

et al. 2021

IEEE Access

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“…In addition, the exoskeleton robot interacts with a wide variety of patients with varying degrees of impairment, which are almost hard to model and incorporate into the robot dynamics due to the time-changing nature of the human–robot interaction. Most of the existing exoskeleton robot research has designed their control approach based on the simplified robot model [ 7 , 29 , 30 , 31 , 32 , 33 ]. Therefore, their performance is not very effective when it comes to managing unpredictable disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

Ahmed

Islam

Brahmi

et al. 2022

Sensors

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Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designed for adults and has an extended range of motion compared to our previously designed ETS-MARSE robot. While providing rehabilitation therapy, the exoskeleton robot is always subject to random disturbance. Moreover, these types of robots manage various patients and different degrees of impairment, which are quite impossible to model and incorporate into the robot dynamics. We hypothesize that a model-independent controller, such as a PID controller, is most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. This research implemented a model-free proportional–integral–derivative (PID) controller to maneuver a complex 7 DoF anthropomorphic exoskeleton robot (i.e., SREx) to provide a wide variety of upper limb exercises to the different subjects. The robustness and trajectory tracking performance of the PID controller was evaluated with experiments. The results show that a PID controller can effectively control a highly nonlinear and complex exoskeleton-type robot.

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“…Based on the correspondence of the robot’s joints onto the wearer, existing rehabilitative robotic devices can be grouped into two main categories, i.e., exoskeleton-type devices [ 19 , 20 , 21 , 22 ] and end-effector-type devices [ 7 , 23 , 24 ]. Exoskeleton-type devices can map the motion and torque to the corresponding human joint, making them have better guidance and control over individual joints.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

et al. 2021

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The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either joint-based exercises (exoskeleton-type functionality) or end-point exercises (end-effector-type functionality). Patients may need both kinds of exercises, depending on the type, level, and degree of impairments. This work focused on designing and developing a seven-degrees-of-freedom (DoFs) upper-limb rehabilitation exoskeleton called ‘u-Rob’ that functions as both exoskeleton and end-effector types device. Furthermore, HRI can be improved by monitoring the interaction forces between the robot and the wearer. Existing upper limb robots lack the ability to monitor interaction forces during passive rehabilitation exercises; measuring upper arm forces is also absent in the existing devices. This research work aimed to develop an innovative sensorized upper arm cuff to measure the wearer’s interaction forces in the upper arm. A PID control technique was implemented for both joint-based and end-point exercises. The experimental results validated both types of functionality of the developed robot.

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Sliding mode control of a 5 dofs upper limb exoskeleton robot

Cited by 12 publications

References 22 publications

Design and Control of a Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Joints

Design and Control of a Reconfigurable Upper Limb Rehabilitation Exoskeleton With Soft Modular Joints

Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality

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