Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot

Brahim Brahmi; Tanvir Ahmed; Soraya Bououden; Maarouf Saad; Mohammad H. Rahman

doi:10.1109/PEDS57185.2023.10246521

Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot

Brahim Brahmi^*
, Tanvir Ahmed
, Soraya Bououden
, Maarouf Saad
, Mohammad H. Rahman

^*Corresponding author for this work

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

Abstract

This paper focuses on two challenges when developing the Smart Robotic Exoskeleton (SREx), a new exoskeleton robot that collaborates with individuals with Upper Limb dys-functions. The first challenge is estimating the wearer's desired intended motion (DIM) for the robot accurately. The second challenge is implementing a robust control strategy for the SREx, which entails transforming variables to achieve the triangular flat canonical normal form (TCNF) for nonlinear dynamic systems with the flatness geometric property. Damped Least Square (DLS) is used in the proposed geometrical transformation-based control strategy to link the estimated DIM to the flatness-compliant control, allowing the SREx to track the wearer's motion easily. Experiments and comparative studies are presented to show the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350399967
DOIs	https://doi.org/10.1109/PEDS57185.2023.10246521
State	Published - 2023
Externally published	Yes
Event	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 - Montreal, Canada Duration: 7 Aug 2023 → 10 Aug 2023

Publication series

Name	Proceedings of the International Conference on Power Electronics and Drive Systems
Volume	2023-August
ISSN (Print)	2164-5256
ISSN (Electronic)	2164-5264

Conference

Conference	14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023
Country/Territory	Canada
City	Montreal
Period	7/08/23 → 10/08/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

Compliant control
Flatness control
exoskeleton robots
force controller.

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/PEDS57185.2023.10246521

Cite this

Brahmi, B., Ahmed, T., Bououden, S., Saad, M., & Rahman, M. H. (2023). Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot. In 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 (Proceedings of the International Conference on Power Electronics and Drive Systems; Vol. 2023-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/PEDS57185.2023.10246521

Brahmi, Brahim ; Ahmed, Tanvir ; Bououden, Soraya et al. / Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot. 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems).

@inproceedings{d857c609bfcf497a8bd7a241c5572223,

title = "Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot",

abstract = "This paper focuses on two challenges when developing the Smart Robotic Exoskeleton (SREx), a new exoskeleton robot that collaborates with individuals with Upper Limb dys-functions. The first challenge is estimating the wearer's desired intended motion (DIM) for the robot accurately. The second challenge is implementing a robust control strategy for the SREx, which entails transforming variables to achieve the triangular flat canonical normal form (TCNF) for nonlinear dynamic systems with the flatness geometric property. Damped Least Square (DLS) is used in the proposed geometrical transformation-based control strategy to link the estimated DIM to the flatness-compliant control, allowing the SREx to track the wearer's motion easily. Experiments and comparative studies are presented to show the effectiveness of the proposed control scheme.",

keywords = "Compliant control, Flatness control, exoskeleton robots, force controller.",

author = "Brahim Brahmi and Tanvir Ahmed and Soraya Bououden and Maarouf Saad and Rahman, \{Mohammad H.\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023 ; Conference date: 07-08-2023 Through 10-08-2023",

year = "2023",

doi = "10.1109/PEDS57185.2023.10246521",

language = "English",

series = "Proceedings of the International Conference on Power Electronics and Drive Systems",

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

booktitle = "14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023",

address = "United States",

}

Brahmi, B, Ahmed, T, Bououden, S, Saad, M & Rahman, MH 2023, Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot. in 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Proceedings of the International Conference on Power Electronics and Drive Systems, vol. 2023-August, Institute of Electrical and Electronics Engineers Inc., 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023, Montreal, Canada, 7/08/23. https://doi.org/10.1109/PEDS57185.2023.10246521

Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot. / Brahmi, Brahim; Ahmed, Tanvir; Bououden, Soraya et al.
14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems; Vol. 2023-August).

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

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T1 - Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot

AU - Brahmi, Brahim

AU - Ahmed, Tanvir

AU - Bououden, Soraya

AU - Saad, Maarouf

AU - Rahman, Mohammad H.

PY - 2023

Y1 - 2023

N2 - This paper focuses on two challenges when developing the Smart Robotic Exoskeleton (SREx), a new exoskeleton robot that collaborates with individuals with Upper Limb dys-functions. The first challenge is estimating the wearer's desired intended motion (DIM) for the robot accurately. The second challenge is implementing a robust control strategy for the SREx, which entails transforming variables to achieve the triangular flat canonical normal form (TCNF) for nonlinear dynamic systems with the flatness geometric property. Damped Least Square (DLS) is used in the proposed geometrical transformation-based control strategy to link the estimated DIM to the flatness-compliant control, allowing the SREx to track the wearer's motion easily. Experiments and comparative studies are presented to show the effectiveness of the proposed control scheme.

AB - This paper focuses on two challenges when developing the Smart Robotic Exoskeleton (SREx), a new exoskeleton robot that collaborates with individuals with Upper Limb dys-functions. The first challenge is estimating the wearer's desired intended motion (DIM) for the robot accurately. The second challenge is implementing a robust control strategy for the SREx, which entails transforming variables to achieve the triangular flat canonical normal form (TCNF) for nonlinear dynamic systems with the flatness geometric property. Damped Least Square (DLS) is used in the proposed geometrical transformation-based control strategy to link the estimated DIM to the flatness-compliant control, allowing the SREx to track the wearer's motion easily. Experiments and comparative studies are presented to show the effectiveness of the proposed control scheme.

KW - Compliant control

KW - Flatness control

KW - exoskeleton robots

KW - force controller.

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DO - 10.1109/PEDS57185.2023.10246521

M3 - Conference contribution

AN - SCOPUS:85174059970

T3 - Proceedings of the International Conference on Power Electronics and Drive Systems

BT - 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023

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ER -

Brahmi B, Ahmed T, Bououden S, Saad M, Rahman MH. Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot. In 14th IEEE International Conference on Power Electronics and Drive Systems, PEDS 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (Proceedings of the International Conference on Power Electronics and Drive Systems). doi: 10.1109/PEDS57185.2023.10246521

Compliance Flatness Based Control of a Collaborative Upper-Limb Exoskeleton Robot

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this