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 |
|---|---|
| Pages (from-to) | 154-164 |
| Number of pages | 11 |
| Journal | International Journal of Computer Applications in Technology |
| Volume | 60 |
| Issue number | 2 |
| DOIs | |
| State | Published - 2019 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2019 Inderscience Enterprises Ltd.
Keywords
- Backstepping control
- Cartesian space trajectory
- External disturbances
- Force observer
- Iterative control
- Joint space trajectory
- Passive rehabilitation mode
- Physical therapy
- Stroke accident
- Uncertainty
ASJC Scopus subject areas
- Software
- Information Systems
- Computer Science Applications
- Computer Networks and Communications
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering
