Abstract

In this paper, a new robust Model Free Terminal Sliding Mode algorithm (MFTSM) is developed to control the flexion/ extension movement of the elbow. Our system is an exoskeleton in interaction with the human upper limb. In a first time, the EMG signal extraction steps were presented. Then, the modeling and the control of the considered system were developed using a model free terminal sliding mode algorithm. A stability study and a robustness analysis were done. Simulation results are provided to prove the performances and the efficiency of the proposed Model Free Terminal Sliding Mode algorithm in presence of parametric uncertainties using the EMG signal as desired trajectories.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.