Abstract
This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design.
Highlights
Rehabilitation treatment, typically performed by caregivers and therapists, needs repeated and progressive functional training exercises to help impaired patients to recover motor abilities [1,2,3]
In the paper the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle was proposed for the dynamic modeling of the robotic exoskeleton
The adaptive fuzzy sliding mode control (AFSMC) needs the dynamic model, and the equations of motion were formulated using the Lagrange equations in terms of quasi coordinates combined with the virtual work principle, in which the formulated kinetic and potential energies are expressed in matrix forms as function of quasi-velocities and rotation matrices
Summary
Rehabilitation treatment, typically performed by caregivers and therapists, needs repeated and progressive functional training exercises to help impaired patients to recover motor abilities [1,2,3]. For electric-motor-actuated robotic exoskeletons, different mechanical designs and control strategies [15,16,17,18] have been proposed to conduct rehabilitation trainings by achieving a passive trajectory tracking, but the weights of most exoskeletons are still considerable for a human to wear. The AFSMC needs the dynamic model, and the equations of motion were formulated using the Lagrange equations in terms of quasi coordinates combined with the virtual work principle, in which the formulated kinetic and potential energies are expressed in matrix forms as function of quasi-velocities and rotation matrices.
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