EXPERIMENTAL VERIFICATION STUDY ON TRAJECTORY TRACKING OF A NOVEL REHABILITATION EXOSKELETON SHOULDER JOINT

Abstract

The trajectory linearization control (TLC) was applied to design an autonomous nonlinear trajectory tracking controller for a novel rehabilitation exoskeleton shoulder joint in this paper. TLC is a relatively new control method which was applied in aircraft and mobile robot, which had good performance on real-time trajectory tracking, anti-jamming and universality. As a new application in the exoskeleton shoulder joint controller design, the controller in this research contained two loops that separately based on the inverse kinematics and pseudo-inverse dynamics models of the exoskeleton shoulder. Two PI controllers as the error regulator can reduce the tracking error. The position and angular velocity error feedback were employed to constitute the closed-loops. Since the controller was based on model and linearization, it can adapt to both linear and nonlinear control processes. The simulation of three different trajectories for single degree of freedom movement of shoulder joint (shoulder flexion and extension, abduction and extension), and the movement of both the two degrees were given. The simulation results showed that the TLC controller can follow the exoskeleton shoulder trajectory steadily and accurately.