Abstract
Assisted control seeks to help subjects to perform physical movements of the body, which they cannot do by themselves. Passive rehabilitation therapy is very important and vital after the stroke accident. In this functioning mode, the subject is completely passive during the movement. The robot brings the injured upper arm of the patient to perform repetitive therapeutic exercises. In this case, the subject's force and the uncertainties caused by repetitive motion, such as mechanical and actuator fatigue, are considered as external disturbances that negatively influence the performance of the exoskeleton robot. To ensure the stability, robustness, and accuracy of the robot, a robust iterative observer based on nonlinear integral backstepping control was implemented with designed exercises performed by subjects. Experimental results show the effectiveness of the proposed control to deal with the external force and repetitive/periodic uncertainties.
| Original language | English |
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| Title of host publication | Proceedings of 2016 8th International Conference on Modelling, Identification and Control, ICMIC 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 886-891 |
| Number of pages | 6 |
| ISBN (Electronic) | 9780956715760 |
| DOIs | |
| State | Published - 3 Jan 2017 |
| Externally published | Yes |
Publication series
| Name | Proceedings of 2016 8th International Conference on Modelling, Identification and Control, ICMIC 2016 |
|---|
Bibliographical note
Publisher Copyright:© 2016 University of MEDEA, Algeria.
Keywords
- Backstepping control
- ETS-MARSE robot
- Force observer
- Iterative control
- Passive rehabilitation
ASJC Scopus subject areas
- Signal Processing
- Control and Systems Engineering
- Control and Optimization
- Modeling and Simulation
