A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties

Brahmi Brahim; Cristobal Ochoa-Luna; Maarouf Saad; Md Assad-Uz-Zaman; Md Rasedul Islam; Mohammad Habibur Rahman

doi:10.1109/GLBC.2017.7928879

A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties

Brahmi Brahim
, Cristobal Ochoa-Luna
, Maarouf Saad
, Md Assad-Uz-Zaman
, Md Rasedul Islam
, Mohammad Habibur Rahman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need intensive and demanding effort by the therapist. Lately, robotic rehabilitation has attracted attention from the scientific community since robots are capable of supplementing the treatments provided by conventional physical therapy. The importance of the rehabilitation robots lies in their capability to provide intensive physiotherapy for a long period of time. The feedback data of the robot allow the physiotherapist to carefully evaluate the patient's performance. A critical aspect is that the design of this class of robots must be harmonious with human anatomy. In order to provide a modern rehabilitation approach for the upper limb, we have developed an exoskeleton robot that is compatible with the human arm configuration and is able to achieve different rehabilitation movements and assistive tasks.

Original language	English
Title of host publication	2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509063581
DOIs	https://doi.org/10.1109/GLBC.2017.7928879
State	Published - 15 May 2017
Externally published	Yes
Event	37th IEEE Great Lakes Biomedical Conference, GLBC 2017 - Milwaukee, United States Duration: 6 Apr 2017 → 7 Apr 2017

Publication series

Name	2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings

Conference

Conference	37th IEEE Great Lakes Biomedical Conference, GLBC 2017
Country/Territory	United States
City	Milwaukee
Period	6/04/17 → 7/04/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Adaptive control
Dynamic uncertainties
Exoskeleton
Lyapunov theory
Rehabilitation
Sliding mode control
Super twisting control

ASJC Scopus subject areas

Biomedical Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/GLBC.2017.7928879

Cite this

Brahim, B., Ochoa-Luna, C., Saad, M., Assad-Uz-Zaman, M., Islam, M. R., & Rahman, M. H. (2017). A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties. In 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings Article 7928879 (2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GLBC.2017.7928879

@inproceedings{1c4f2b52bbd74660afb006b3bc50b4f4,

title = "A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties",

abstract = "Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need intensive and demanding effort by the therapist. Lately, robotic rehabilitation has attracted attention from the scientific community since robots are capable of supplementing the treatments provided by conventional physical therapy. The importance of the rehabilitation robots lies in their capability to provide intensive physiotherapy for a long period of time. The feedback data of the robot allow the physiotherapist to carefully evaluate the patient's performance. A critical aspect is that the design of this class of robots must be harmonious with human anatomy. In order to provide a modern rehabilitation approach for the upper limb, we have developed an exoskeleton robot that is compatible with the human arm configuration and is able to achieve different rehabilitation movements and assistive tasks.",

keywords = "Adaptive control, Dynamic uncertainties, Exoskeleton, Lyapunov theory, Rehabilitation, Sliding mode control, Super twisting control",

author = "Brahmi Brahim and Cristobal Ochoa-Luna and Maarouf Saad and Md Assad-Uz-Zaman and Islam, \{Md Rasedul\} and Rahman, \{Mohammad Habibur\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 37th IEEE Great Lakes Biomedical Conference, GLBC 2017 ; Conference date: 06-04-2017 Through 07-04-2017",

year = "2017",

month = may,

day = "15",

doi = "10.1109/GLBC.2017.7928879",

language = "English",

series = "2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings",

address = "United States",

}

Brahim, B, Ochoa-Luna, C, Saad, M, Assad-Uz-Zaman, M, Islam, MR & Rahman, MH 2017, A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties. in 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings., 7928879, 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 37th IEEE Great Lakes Biomedical Conference, GLBC 2017, Milwaukee, United States, 6/04/17. https://doi.org/10.1109/GLBC.2017.7928879

A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties. / Brahim, Brahmi; Ochoa-Luna, Cristobal; Saad, Maarouf et al.
2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2017. 7928879 (2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties

AU - Brahim, Brahmi

AU - Ochoa-Luna, Cristobal

AU - Saad, Maarouf

AU - Assad-Uz-Zaman, Md

AU - Islam, Md Rasedul

AU - Rahman, Mohammad Habibur

PY - 2017/5/15

Y1 - 2017/5/15

N2 - Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need intensive and demanding effort by the therapist. Lately, robotic rehabilitation has attracted attention from the scientific community since robots are capable of supplementing the treatments provided by conventional physical therapy. The importance of the rehabilitation robots lies in their capability to provide intensive physiotherapy for a long period of time. The feedback data of the robot allow the physiotherapist to carefully evaluate the patient's performance. A critical aspect is that the design of this class of robots must be harmonious with human anatomy. In order to provide a modern rehabilitation approach for the upper limb, we have developed an exoskeleton robot that is compatible with the human arm configuration and is able to achieve different rehabilitation movements and assistive tasks.

AB - Advanced robotic technology has become a significant component in many medical specialties, including in rehabilitation tasks such as physiotherapy. Rehabilitation programs are a practical approach created to assist patients, such as stroke victims, in retrieving their missing functional capacity, obtaining new skills, and enhancing their quality of life. Nevertheless, rehabilitation treatments need intensive and demanding effort by the therapist. Lately, robotic rehabilitation has attracted attention from the scientific community since robots are capable of supplementing the treatments provided by conventional physical therapy. The importance of the rehabilitation robots lies in their capability to provide intensive physiotherapy for a long period of time. The feedback data of the robot allow the physiotherapist to carefully evaluate the patient's performance. A critical aspect is that the design of this class of robots must be harmonious with human anatomy. In order to provide a modern rehabilitation approach for the upper limb, we have developed an exoskeleton robot that is compatible with the human arm configuration and is able to achieve different rehabilitation movements and assistive tasks.

KW - Adaptive control

KW - Dynamic uncertainties

KW - Exoskeleton

KW - Lyapunov theory

KW - Rehabilitation

KW - Sliding mode control

KW - Super twisting control

UR - https://www.scopus.com/pages/publications/85021433604

U2 - 10.1109/GLBC.2017.7928879

DO - 10.1109/GLBC.2017.7928879

M3 - Conference contribution

AN - SCOPUS:85021433604

T3 - 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings

BT - 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 37th IEEE Great Lakes Biomedical Conference, GLBC 2017

Y2 - 6 April 2017 through 7 April 2017

ER -

Brahim B, Ochoa-Luna C, Saad M, Assad-Uz-Zaman M, Islam MR, Rahman MH. A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties. In 2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. 7928879. (2017 IEEE Great Lakes Biomedical Conference, GLBC 2017 - Proceedings). doi: 10.1109/GLBC.2017.7928879

A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

Access to Document

Fingerprint

Cite this