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.
Sign-in/Register to access full text options 
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 callMore From: International Journal of Computer Applications in Technology
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.
