Robust Adaptive Sliding Mode Admittance Control of Exoskeleton Rehabilitation Robots

Torabi, Mehran; Sharifi, Mojtaba; Vossoughi, Gholamreza

doi:10.24200/sci.2017.4512

Cited by 18 publications

(25 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…They used a particle swarm optimizer (PSO) to find the optimal design parameters of the controller and the adaptation law [88]. Torabi et al proposed an admittance controller based on a nonlinear adaptive sliding mode scheme for a lower limb exoskeleton robot to provide robustness against disturbances while ensuring a compliant behavior during patient-exoskeleton interaction [89].…”

Section: Robotic Exoskeletonsmentioning

confidence: 99%

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Mohebbi

2020

Curr Robot Rep

View full text Add to dashboard Cite

Purpose of Review Research in assistive and rehabilitation robotics is a growing, promising, and challenging field emerged due to various social and medical needs such as aging populations, neuromuscular, and musculoskeletal disorders. Such robots can be used in various day-today scenarios or to support motor functionality, training, and rehabilitation. This paper reflects on the human-robot interaction perspective in rehabilitation and assistive robotics and reports on current issues and developments in the field. Recent Findings The survey on the literature reveals that new efforts are put on utilizing machine learning approaches alongside novel developments in sensing technology to adapt the systems with user routines in terms of activities for assistive systems and exercises for rehabilitation devices to fit each user's need and maximize their effectiveness. Summary A review of recent research and development efforts on human-robot interaction in assistive and rehabilitation robotics is presented in this paper. First, different subdomains in assistive and rehabilitation robotic research are identified, and accordingly, a survey on the background and trends of such developments is provided.

show abstract

Section: Robotic Exoskeletonsmentioning

confidence: 99%

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Mohebbi

2020

Curr Robot Rep

View full text Add to dashboard Cite

show abstract

“…37 In the robotic rehabilitation systems, various control methodologies based on the SMC have been developed. 22,38 Herein, a well-known ASMC is utilized to achieve a comparative study between ASMC and the proposed ST-NTSMC.…”

Section: Controller Designmentioning

confidence: 99%

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

Almaghout

Tarvirdizadeh

Alipour

et al. 2020

Proc Inst Mech Eng H

View full text Add to dashboard Cite

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.

show abstract

“…Bagheri et al 16 designed a new structure to analyze effects of shoulder placement on working of a humanoid. Torabi et al 17 proposed a control scheme based on adaptive sliding mode control of an exoskeleton robot. Zhou and Tsagarkis 18 designed a kinematic solution toward ankle module of a humanoid.…”

Section: Introductionmentioning

confidence: 99%

Humanoid NAO: A Kinematic Encounter

Sahu

Parhi²,

Kumar³

et al. 2021

Robotica

View full text Add to dashboard Cite

SUMMARY In the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.

show abstract

Robust Adaptive Sliding Mode Admittance Control of Exoskeleton Rehabilitation Robots

Cited by 18 publications

References 32 publications

Human-Robot Interaction in Rehabilitation and Assistance: a Review

Human-Robot Interaction in Rehabilitation and Assistance: a Review

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

Humanoid NAO: A Kinematic Encounter

Contact Info

Product

Resources

About