scholarly journals Chattering Free Sliding Mode Control of Upper-limb Rehabilitation Robot with Handling Subject and Model Uncertainties

2015 ◽  
Vol 21 (5) ◽  
pp. 421-426 ◽  
Author(s):  
Abdul Manan Khan ◽  
Deok-Won Yun ◽  
Changsoo Han
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Rehabilitation Robot ◽  
Model Uncertainties ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Chattering Free ◽  
Limb Rehabilitation

scholarly journals Sliding Mode Control for 2 Degrees of Freedom Upper Limb Rehabilitation Robotic System under Uncertainties

2019 ◽  
Vol 9 (2) ◽  
pp. 3268-3274
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Rehabilitation Robots ◽  
High Frequency Oscillations ◽  
Limb Rehabilitation

Rehabilitation of patients suffering from post-stroke injuries via robots is now adapted word widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without any monotony failure. Control of these rehabilitation robots is an important part to consider because of nonlinearity and uncertainty of the system. This paper presents nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulator. Sliding mode control is able to handle system uncertainties and parametric changes. One drawback of using SMC is high frequency oscillations called as chattering. This chattering can be reduced by using boundary layer technique. Experiments have been carried out under perturbed conditions and results have shown that SMC performs well and remain stable and thus proves to robust controller for upper limb robotic manipulator.

A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Robotica ◽  
2020 ◽  
Vol 38 (11) ◽  
pp. 2099-2120 ◽  
Author(s):  
Md Rasedul Islam ◽  
Mehran Rahmani ◽  
Mohammad Habibur Rahman
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Wide Range ◽  
The Stability ◽  
Limb Rehabilitation

SUMMARYThe robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

Design and control of a lower limb rehabilitation robot considering undesirable torques of the patient’s limb

2020 ◽  
Vol 234 (12) ◽  
pp. 1457-1471
Author(s):  
Karam Almaghout ◽  
Bahram Tarvirdizadeh ◽  
Khalil Alipour ◽  
Alireza Hadi
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Rehabilitation Robot ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Ankle Rehabilitation ◽  
Limb Rehabilitation

This research introduces a new exoskeleton-type rehabilitation robot, which can be used in lower limb rehabilitation therapy for post-stroke patients. A novel design of a typical knee and ankle rehabilitation robot is proposed. The kinematic and dynamic models of the knee and ankle rehabilitation robot are derived. Furthermore, a super-twisting nonsingular terminal sliding mode control is developed to achieve the desired training missions and its results are compared with those of an adaptive sliding mode control. To reduce undesired interaction torques between knee and ankle rehabilitation robot and patient, an admittance control algorithm is added to the controller to guarantee a safe therapy session. The admittance super-twisting nonsingular terminal sliding mode control structure is considered as the novelty of this article. Taking into account the dynamic uncertainties, external disturbances, and the interaction torques, the validity of the admittance super-twisting nonsingular terminal sliding mode control controller is approved by various numerical simulations over the admittance adaptive sliding mode control.

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