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Robust continuous third-order finite time sliding mode controllers for exoskeleton robot

Fellag Ratiba, Guiatni Mohamed, Hamerlain Mustapha, Achour Noura

Archive of Mechanical Engineering

2021

LXVIII, nr 4

395--414

In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.

A novel exoskeleton robotic system for hand rehabilitation – Conceptualization to prototyping

Iqbal J., Khan H., Tsagarakis N. G., Caldwell D. G.

Biocybernetics and Biomedical Engineering

2014

Vol. 34, no. 2

79--89

This research presents a novel hand exoskeleton rehabilitation device to facilitate tendon therapy exercises. The exoskeleton is designed to assist fingers flexion and extension motions in a natural manner. The proposed multi-Degree Of Freedom (DOF) system consists of a direct- driven, optimized and underactuated serial linkage mechanism having capability to exert extremely high force levels perpendicularly on the finger phalanges. Kinematic and dynamic models of the proposed device have been derived. The device design is based on the results of multi-objective optimization algorithm and series of experiments conducted to study capa- bilities of the human hand. To permit a user-friendly interaction with the device, the control is based on minimum jerk trajectory generation. Using this control system, the transient response and steady state behavior of the proposed device are analyzed after designing and fabricating a two-fingered prototype. The pilot study shows that the proposed rehabilita- tion system is capable of flexing and extending the fingers with accurate trajectories.