This paper deals with the modeling, the control and the robustness analysis of an integrated exoskeleton-upper limb system. The considered system is a robot with two degrees of freedom controlled by a Model Free Terminal Sliding Mode with Gravity Compensation (MFTSMGC) algorithm. The objective is to develop a new dynamic model of the exoskeleton interacted with the human upper limb then to control the flexion/extension movement of the shoulder and the elbow and to study its robustness in presence of uncertainties and disturbances. Thus, in a first time, the dynamic model of the treated system was presented. In a second time, the development of a new control law was done. Then, an Input-to-State Stability (ISS) study is realized to demonstrate the stability of the considered system. Finally, a robustness analysis using Monte Carlo method is developed. Simulation results are provided to prove the performances and the efficiency of the Model Free Terminal Sliding mode with Gravity Compensation algorithm and the stability of the system in presence of disturbances and uncertainties.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

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


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Derbel, Nabil (Herausgeber:in) / Nouri, Ahmed Said (Herausgeber:in) / Zhu, Quanmin (Herausgeber:in) / Bembli, Sana (Autor:in) / Haddad, Nahla Khraief (Autor:in) / Belghith, Safya (Autor:in)


    Erscheinungsdatum :

    12.08.2023


    Format / Umfang :

    24 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    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

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

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


    Rehabilitation Upper Limb Exoskeleton: Human-Robot Simulation Framework

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



    An Affordable Upper-Limb Exoskeleton Concept for Rehabilitation Applications

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

    Freier Zugriff