Journal
IEEE ACCESS
Volume 8, Issue -, Pages 149796-149807Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3016726
Keywords
Pneumatic artificial muscle; robotic exoskeleton; rehabilitation; adaptive fuzzy sliding mode control
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Funding
- Ministry of Science and Technology of Taiwan [MOST 108-2321-B-027-001, MOST 108-2221-E-003 -024-MY3]
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This paper presents the design, dynamic modeling and motion control of a novel cable-driven upper limb robotic exoskeleton for a rehabilitation exercising. The proposed four degree-of-freedom robotic exoskeleton, actuated by pneumatic artificial muscle actuators, is characterized by a safe, compact, and lightweight structure, complying with the motion of an upper limb as close as possible. In order to perform a passive rehabilitation exercise, the dynamic models were developed by the Lagrange formulation in terms of quasi coordinates combined with the virtual work principle, and then the adaptive fuzzy sliding mode control was designed for the rehabilitation trajectory control. Finally, rehabilitation experiments were conducted to validate the prototype of upper limb robotic exoskeleton and the controller design.
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