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Abstract

This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD¸, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD¸ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
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Authors and Affiliations

Valeria Avilés
1
Oscar F. Avilés
1
Jorge Aponte
1
Oscar I. Caldas
1
Mauricio F. Mauledoux
1

  1. Davinci Research Group, Mechatronics Engineering, Militar Nueva Granada University, Cr 11 No 101-80, Bogotá, Colombia
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Abstract

Brain research is enabling us to stretch the very limits of human cognition. However, exploring the mysteries of the brain has limits of its own, many of which we are still struggling to overcome.
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Authors and Affiliations

Piotr Durka
1
Krystian Dereziński
2

  1. Faculty of Physics, University of Warsaw
  2. Faculty of Philosophy and Social Sciences, Nicolaus Copernicus University in Toruń
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Abstract

This paper deals with mechanical and hardware design of a robot, used for the rehabilitation of upper extremities. It has been called ARR-1 (Arm Rehabilitation Robot). The robot has a semi-exoskeleton structure. This means that some parts of the robot fit closely to the human arm (an orthosis), but the weight of the construction does not load patient’s body. The device is used for the whole arm rehabilitation, but active joints are only situated in glenohumeral and elbow joints. The robot is electrically actuated.

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Authors and Affiliations

Artur Gmerek
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Abstract

In this work, continuous third-order sliding mode controllers are presented to control a five degrees-of-freedom (5-DOF) exoskeleton robot. This latter is used in physiotherapy rehabilitation of upper extremities. The aspiration is to assist the movements of patients with severe motor limitations. The control objective is then to design adept controllers to follow desired trajectories smoothly and precisely. Accordingly, it is proposed, in this work, a class of homogeneous algorithms of sliding modes having finite-time convergence properties of the states. They provide continuous control signals and are robust regardless of non-modeled dynamics, uncertainties and external disturbances. A comparative study with a robust finite-time sliding mode controller proposed in literature is performed. Simulations are accomplished to investigate the efficacy of these algorithms and the obtained results are analyzed.
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Bibliography

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Authors and Affiliations

Ratiba Fellag
1 3
ORCID: ORCID
Mohamed Guiatni
2
ORCID: ORCID
Mustapha Hamerlain
1
Noura Achour
3

  1. Centre de Développement des Technologies Avancées, Alger, Algérie.
  2. Laboratoire LCS^2, Ecole Militaire Polytechnique, Alger, Algérie.
  3. Laboratoire LRPE, Université des Sciences et de la Technologie Houari Boumediene, Alger, Algérie.

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