Flatness Based Control of a Novel Smart Exoskeleton Robot

Brahmi, Brahim; Ahmed, Tanvir; Elbojairami, Ibrahim; Swapnil, Asif Al Zubayer; Assaduzzaman, Mohammad; Schultz, Katie; McGonigle, Erin; Rahman, Mohammad Habibur

doi:10.1109/tmech.2021.3076956

Cited by 9 publications

(6 citation statements)

References 41 publications

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“…It closely mimics human anatomy and can be worn to synchronize motions with the wearer during therapy. The design characteristics and mechanical properties of SREx were previously established in [ 39 ].…”

Section: Experiments’ Resultsmentioning

confidence: 99%

Adaptive-Robust Controller for Smart Exoskeleton Robot

Brahmi,

Dahani,

Bououden

et al. 2024

Sensors

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Rehabilitation robotics has seen growing popularity in recent years due to its immense potential for improving the lives of people with disabilities. However, the complex, uncertain dynamics of these systems present significant control challenges, requiring advanced techniques. This paper introduces a novel adaptive control framework integrating modified function approximation (MFAT) and double-integral non-singular terminal sliding mode control (DINTSMC). The goal is to achieve precise tracking performance, high robustness, a fast response, a finite convergence time, reduced chattering, and effective handling of unknown system dynamics. A key feature is the incorporation of a higher-order sliding mode observer, eliminating the need for velocity feedback. This provides a new solution for overcoming the inherent variations and uncertainties in robot manipulators, enabling improved accuracy within fixed convergence times. The efficacy of the proposed approach was validated through simulations and experiments on an exoskeleton robot. The results successfully demonstrated the controller’s effectiveness. Stability analysis using Lyapunov theory proved the closed-loop system’s uniform ultimate boundedness. This contribution is expected to enable enhanced control for rehabilitation robots and improved patient outcomes.

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Section: Experiments’ Resultsmentioning

confidence: 99%

Adaptive-Robust Controller for Smart Exoskeleton Robot

Brahmi,

Dahani,

Bououden

et al. 2024

Sensors

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“…Another good feature of this controller is the ability to predict system behavior. Its application improves the dynamic response of the system [73]. One of the challenges of this method is the high number of sensors.…”

Section: B Control Of Boost Convertersmentioning

confidence: 99%

Nonlinear Cascaded Control for a DC-DC Boost Converter

Mansouri,

Gavagsaz-Ghoachani,

Phattanasak

et al. 2023

Journal of Robotics and Control

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The Boost Converter is a type of DC-DC converter that operates using switching techniques and is designed to elevate the voltage level. This paper presents a cascaded control for a boost converter to ensure that the inductor current and output capacitor voltage remain in a safe operating zone. Ensuring safe operating conditions and stable closed-loop poles is crucial because it guarantees that both current and voltage remain within the designated operating range. This preventive measure prevents any damage to components like capacitors (C), inductors (L), and switches. Unstable operation, on the other hand, could lead to oscillations and an undesirable increase in the amplitude of current and voltage, posing a risk to all components involved. The research contribution involves an investigation of cascaded control, utilizing power and energy concepts due to their advantageous effects on system performance and design. By implementing nonlinear controllers based on a large-signal averaged model, the closed-loop poles remain independent of operating points, eliminating the need for small-signal linearization. Small-signal linearization makes the controlled system dependent on the operating point. Two controllers are introduced based on power and energy concept, which is easy to understand. The potential practical application of the proposed cascaded control approach is in high-power applications. Tracking the energy stored in the output capacitor is first investigated to validate the proposed control scheme by varying the output voltage reference from 32 V to 50 V. Then, the regulation of the energy voltage is explored by varying the load resistance for the output voltage at 50 V. Both are done using a switched model using MATLAB/Simulink software. Simulation results are given to demonstrate the effectiveness of the proposed method. The key metrics used to assess the effectiveness of the proposed control scheme are the undershoot voltage and robustness. The results show that the studied system's tracking, regulating operations and robustness properties are as expected. The proposed method faces a challenge with the number of sensors required. To address this, observers can be utilized to reduce sensor usage while maintaining measurement accuracy. The proposed method can be applied to other power electronic systems.

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“…Rehabilitation robots and assistive robots are two potential applications for collaborative robots. Researchers are working on different approaches using skin surface electromyogram–based signals [ 17 ], nonlinear sliding mode control [ 18 ], geometric solution [ 19 ], and variable transformation for flatness geometric property [ 20 ] using collaborative robots to design robots for rehabilitation. Researchers have also followed learning latent actions from task demonstrations [ 21 ], reinforcement learning [ 22 ], digital image processing [ 23 ], and eye tracking–based assistive robot control [ 24 ] approaches for collaborative robots, focusing on assistive applications.…”

Section: Introductionmentioning

confidence: 99%

A Novel Framework for Mixed Reality–Based Control of Collaborative Robot: Development Study

Shahria¹,

Sunny²,

Zarif³

et al. 2022

JMIR Biomed Eng

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Background Applications of robotics in daily life are becoming essential by creating new possibilities in different fields, especially in the collaborative environment. The potentials of collaborative robots are tremendous as they can work in the same workspace as humans. A framework employing a top-notch technology for collaborative robots will surely be worthwhile for further research. Objective This study aims to present the development of a novel framework for the collaborative robot using mixed reality. Methods The framework uses Unity and Unity Hub as a cross-platform gaming engine and project management tool to design the mixed reality interface and digital twin. It also uses the Windows Mixed Reality platform to show digital materials on holographic display and the Azure mixed reality services to capture and expose digital information. Eventually, it uses a holographic device (HoloLens 2) to execute the mixed reality–based collaborative system. Results A thorough experiment was conducted to validate the novel framework for mixed reality–based control of a collaborative robot. This framework was successfully applied to implement a collaborative system using a 5–degree of freedom robot (xArm-5) in a mixed reality environment. The framework was stable and worked smoothly throughout the collaborative session. Due to the distributed nature of cloud applications, there is a negligible latency between giving a command and the execution of the physical collaborative robot. Conclusions Opportunities for collaborative robots in telerehabilitation and teleoperation are vital as in any other field. The proposed framework was successfully applied in a collaborative session, and it can also be applied in other similar potential applications for robust and more promising performance.

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Flatness Based Control of a Novel Smart Exoskeleton Robot

Cited by 9 publications

References 41 publications

Adaptive-Robust Controller for Smart Exoskeleton Robot

Adaptive-Robust Controller for Smart Exoskeleton Robot

Nonlinear Cascaded Control for a DC-DC Boost Converter

A Novel Framework for Mixed Reality–Based Control of Collaborative Robot: Development Study

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