Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation

Nunez-Quispe, Johan J.; Figueroa, Alvaro; Campusano, Daryl; Johrdan, Huamanchumo; Axel, Soto; Chate, Ebert; Acuña, Jesus; Lleren, Juan; Albites-Sanabria, Jose; Milián-Ccopa, Leonardo Paul; Taipe, Kevin

doi:10.1007/978-3-030-88751-3_22

Cited by 1 publication

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“…Proof of Theorem 1 Taking into account the Lyapunov function given in Eqn. (15). The derivative of V (x) :…”

Section: Existence Of a Finite-time Stablementioning

confidence: 99%

“…The design of sliding mode controller includes two steps: sliding surface design and control law design. Design of sliding surface includes linear sliding surface, nonlinear sliding surface, integral sliding surface and fuzzy sliding surface [15]. Linear sliding mode control can only ensure that the system error converges gradually, but the convergence time cannot be guaranteed.…”

Section: Introductionmentioning

confidence: 99%

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Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

Liu

et al. 2022

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In this paper, in order to achieve safe, stable and efficient lower limb rehabilitation training, a PRR-NTSMIC(power reaching rate-nonsingular terminal sliding mode impedance controller, PRR-NTSMIC) for lower limb rehabilitation exoskeleton robot is proposed. Firstly, the kinemat-ics and dynamics models of the lower limb rehabilitation exoskeleton robot are established. On the basis of the model, PRR-NTSMIC is illustrated to ensure the compliance, comfort and robustness of the lower limb rehabilitation exoskeleton robot in the process of rehabilitation training, and the FTS(finite-time stability,FTS) of the system is verified by Lyapunov. Secondly, the superiority of the proposed control scheme is illustrated by designing a comparative simulation with the traditional PRR-SMIC(power reaching rate-sliding mode impedance controller, PRR-SMIC) and PRR-TSMIC(power reaching rate-terminal sliding mode impedance controller, PRR-TSMIC) algorithms. Then, in order to obtain better controller performance, through analyzing the influence of parameters values on control effect, numerical comparison simulations are designed to select the optimal controller 1 Springer Nature 2021 L A T E X template Article Title parameters values. Finally, the human bicycle motion data are collected as the system input for bicycle rehabilitation training based on lower limb rehabilitation exoskeleton robot to verify the proposed control method. The experimental results illustrate that the proposed controller has high tracking accuracy, effectiveness, robustness and FTS.

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“…Proof of Theorem 1 Taking into account the Lyapunov function given in Eqn. (15). The derivative of V (x) :…”

Section: Existence Of a Finite-time Stablementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

Liu

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation

Cited by 1 publication

References 14 publications

Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

Research on finite time stability of lower limb rehabilitation exoskeleton based on compliance control

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