This research deals with the robustness analysis of a two-degree-of-freedom (2-DoF) exoskeleton-upper system controlled by a model-free adaptive terminal sliding mode with a gravity-compensation. The purpose of this research is to model and monitor flexion/extension movements of the shoulder and elbow. First, the dynamic modelling of the studied system is presented. Then, a model-free adaptive terminal sliding mode with gravity compensation method (MFATSMGC) was established to control the exoskeleton- upper limb system. Next, robustness study of the proposed controller in existence of uncertainties and disturbances was given. Finally, the performance and robustness of the proposed controller are presented based on simulation results.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robustness Study of an Exoskeleton-Upper Limb System Controlled by a Model Free Adaptive Terminal Sliding Mode with Gravity Compensation


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Romdhane, Lotfi (Herausgeber:in) / Mlika, Abdelfattah (Herausgeber:in) / Zeghloul, Saïd (Herausgeber:in) / Chaker, Abdelbadia (Herausgeber:in) / Laribi, Med Amine (Herausgeber:in) / Bembli, Sana (Autor:in) / Khraief Haddad, Nahla (Autor:in) / Belghith, Safya (Autor:in)

    Kongress:

    IFToMM International Symposium on Robotics and Mechatronics ; 2024 ; Djerba, Tunisia April 17, 2024 - April 19, 2024


    Erschienen in:

    Robotics and Mechatronics ; Kapitel : 12 ; 123-136


    Erscheinungsdatum :

    25.09.2024


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    An Integrated Exoskeleton-Upper Limb System: Modeling, Control, Stability Study and Robustness Analysis

    Bembli, Sana / Haddad, Nahla Khraief / Belghith, Safya | Springer Verlag | 2023


    Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework

    Sosa Méndez, Deira / García Cena, Cecilia E. / Saltarén Pazmiño, Roque | Springer Verlag | 2024


    Embedded system for upper-limb exoskeleton based on electromyography control

    Triwiyanto, Triwiyanto / Pawana, I Putu Alit / Irianto, Bambang Guruh et al. | BASE | 2019

    Freier Zugriff

    An Affordable Upper-Limb Exoskeleton Concept for Rehabilitation Applications

    Palazzi E. / Luzi L. / Dimo E. et al. | BASE | 2022

    Freier Zugriff

    Control of a Lower Limb Exoskeleton Robot by Upper Limb sEMG Signal

    Guo, Shuxiang / Ding, Yibin / Guo, Jian | British Library Conference Proceedings | 2021