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.


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    Title :

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


    Additional title:

    Mechan. Machine Science



    Conference:

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


    Published in:

    Robotics and Mechatronics ; Chapter : 12 ; 123-136


    Publication date :

    2024-09-25


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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