Compliant adaptive control of human upper-limb exoskeleton robot with unknown dynamics based on a Modified Function Approximation Technique (MFAT)

2019 ◽  
Vol 117 ◽  
pp. 92-102 ◽  
Author(s):  
Brahim Brahmi ◽  
Mohamed Hamza Laraki ◽  
Maarouf Saad ◽  
M.H. Rahman ◽  
Cristobal Ochoa-Luna ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Upper Limb ◽  
Function Approximation ◽  
Approximation Technique ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Function Approximation Technique ◽  
Human Upper Limb

Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety

2013 ◽  
Vol 52 (6) ◽  
pp. 844-852 ◽  
Author(s):  
Hao-Bo Kang ◽  
Jian-Hui Wang
Keyword(s):  
Adaptive Control ◽  
Upper Limb ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

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