Abstract
Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.
Highlights
Accidents, aging, stroke, and neural diseases cause impairments of motor function
The sliding mode controller (SMC) can overcome uncertain disturbances to follow the rehabilitation trajectories, but accompanying chattering may lead to harm to subjects, it is clear that the proposed fuzzy sliding mode control (FSMC) has superior tracking performance to the other two controllers for the pneumatic muscle actuators (PMA)-actuated Figure exoskeleton robotwore on the rehabilitation
This paper concludes with the following main contributions: a new 4-degree of freedom (4-degree of freedom (DOF)) PMA-actuated
Summary
Accidents, aging, stroke, and neural diseases cause impairments of motor function. Those with movement difficulties are always hindered by daily living activities. The 8.5 kg of exoskeleton robot is a mechanical structure type of a wearable device that synchronizes with human limbs, providing powered assistance for weak individuals, or being used in human training for rehabilitation. Studied an adaptive control strategy for a class of 5- degree of freedom (DOF) upper-limb exoskeleton robot with shoulder, elbow, and wrist joint movements to improve the fault tolerance and safety with. Tu et al [17] developed a portable upper limb exoskeleton rehabilitation robot that is unidirectionally actuated by PMAs to performs frequent intensive rehabilitation training, and the iterative learning control (ILC) was designed to control this hybrid rehabilitation system to execute repetitive task training. For an upper-limb exoskeleton robot design, actuators, sensors, processors, and the required mechanisms or mechanical linkages must be fitted to the hardware and must conform to the movement of the human arm. In this paper, a 4-DOF upper-limb exoskeleton robot driven executed to provide a validation on the proposed architectures and controllers
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