Journal
SENSORS
Volume 22, Issue 10, Pages -Publisher
MDPI
DOI: 10.3390/s22103747
Keywords
exoskeleton robot; upper limb rehabilitation; passive rehabilitation exercise; PID motion control; trajectory tracking
Funding
- University of Wisconsin Milwaukee's Discovery Innovation Grant, 2020-2022 [101X407]
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This article introduces an exoskeleton robot named SREx for upper limb rehabilitation therapy. The study implemented a model-free PID controller to maneuver the robot and evaluated its robustness and trajectory tracking performance through experiments.
Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designed for adults and has an extended range of motion compared to our previously designed ETS-MARSE robot. While providing rehabilitation therapy, the exoskeleton robot is always subject to random disturbance. Moreover, these types of robots manage various patients and different degrees of impairment, which are quite impossible to model and incorporate into the robot dynamics. We hypothesize that a model-independent controller, such as a PID controller, is most suitable for maneuvering a therapeutic exoskeleton robot to provide rehabilitation therapy. This research implemented a model-free proportional-integral-derivative (PID) controller to maneuver a complex 7 DoF anthropomorphic exoskeleton robot (i.e., SREx) to provide a wide variety of upper limb exercises to the different subjects. The robustness and trajectory tracking performance of the PID controller was evaluated with experiments. The results show that a PID controller can effectively control a highly nonlinear and complex exoskeleton-type robot.
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