Proceedings ArticleDOI
Sliding mode control of an exoskeleton robot for use in upper-limb rehabilitation
Mahdieh Babaiasl,Saeede Nazari Goldar,Mojtaba Hadi Barhaghtalab,Vahid Meigoli +3 more
- pp 694-701
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TLDR
In this article, a 3D exoskeleton robot for shoulder joint rehabilitation after stroke is presented, where a sliding mode controller (SMC) is used to track desired trajectories and a new open circular mechanism is proposed for the third joint.Abstract:
In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix, singular points, and dynamics of the robot are presented. In order to study the ability of the robot to follow the optimized trajectories, sliding mode controller (SMC) is proposed to track desired trajectories. In most rehabilitation robots, the attention is on robot's mechanical design, so linear controllers are used to control the robot. However, rehabilitation robots are non-linear in nature and non-linear control methods are required that can reject uncertainties and are resistant to parameter changes. SMC is robust due to its nonlinear nature, and can reject uncertainties and disturbances applying on the system such as patient's hand tremor. The parameters of the SMC are tuned using Genetic Algorithm (GA). The main advantage of this robot compared to similar systems are being low weight, having a special mechanism for third joint that solves the known issues associated with long wiring and closed mechanisms, allowing translational degrees of freedom of the shoulder, ease of use, comfort for the patient and the tracking performance of the controllers.read more
Citations
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Biomechanics And Motor Control Of Human Movement
TL;DR: Biomechanics and motor control of human movement is downloaded so that people can enjoy a good book with a cup of tea in the afternoon instead of juggling with some malicious virus inside their laptop.
Journal ArticleDOI
Adaptive Neural Network Fast Fractional Sliding Mode Control of a 7-DOF Exoskeleton Robot
TL;DR: A novel adaptive neural network fast fractional integral terminal sliding mode control (ANFFITSMC) approach to maneuver the ETS-MARSE to provide passive arm movement therapy and a new adaptive radial basis function neural network (ARBFN) is incorporated with the FFITSMC.
Journal ArticleDOI
Fuzzy neural network and observer-based fault-tolerant adaptive nonlinear control of uncertain 5-DOF upper-limb exoskeleton robot for passive rehabilitation
TL;DR: In this article, an adaptive nonlinear control scheme, which uses a new reaching law-based sliding mode control strategy, is proposed for a 5DOF upper-limb exoskeleton robot used for passive rehabilitation therapy.
Journal ArticleDOI
Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review.
TL;DR: In this paper, a literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI.
Journal ArticleDOI
A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation
TL;DR: A novel, 7 degree-of-freedom upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons and a fractional sliding mode control (FSMC) to control u-Rob is presented.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Book
Biomechanics and Motor Control of Human Movement
TL;DR: The Fourth Edition of Biomechanics as an Interdiscipline: A Review of the Fourth Edition focuses on biomechanical Electromyography, with a focus on the relationship between Electromyogram and Biomechinical Variables.
Book
Robotics: Modelling, Planning and Control
TL;DR: Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control, suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.
Biomechanics And Motor Control Of Human Movement
TL;DR: Biomechanics and motor control of human movement is downloaded so that people can enjoy a good book with a cup of tea in the afternoon instead of juggling with some malicious virus inside their laptop.
Journal ArticleDOI
Effects of Robot-Assisted Therapy on Upper Limb Recovery After Stroke: A Systematic Review
TL;DR: Future research into the effects of robot-assisted therapy should distinguish between upper and lower robotics arm training and concentrate on kinematical analysis to differentiate between genuine upper limb motor recovery and functional recovery due to compensation strategies by proximal control of the trunk and upper limb.