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A Novel Exoskeleton with Fractional Sliding Mode Control for Upper Limb Rehabilitation

Published online by Cambridge University Press:  15 January 2020

Md Rasedul Islam ,
Mehran Rahmani Open the ORCID record for Mehran Rahmani [Opens in a new window]  and
Mohammad Habibur Rahman
Md Rasedul Islam
Affiliation:
Department of Mechanical Engineering, University of Wisconsin–Milwaukee, Wisconsin, WI, USA. E-mails: [email protected]; [email protected]
Mehran Rahmani*
Affiliation:
Department of Mechanical Engineering, University of Wisconsin–Milwaukee, Wisconsin, WI, USA. E-mails: [email protected]; [email protected]
Mohammad Habibur Rahman
Affiliation:
Department of Mechanical/Biomedical Engineering, University of Wisconsin-Milwaukee, Wisconsin, WI, USA. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

The robotic intervention has great potential in the rehabilitation of post-stroke patients to regain their lost mobility. In this paper, firstly, we present a design of a novel, 7 degree-of-freedom (DOF) upper limb robotic exoskeleton (u-Rob) that features shoulder scapulohumeral rhythm with a wide range of motions (ROM) compared to other existing exoskeletons. An ergonomic shoulder mechanism with two passive DOF was included in the proposed exoskeleton to provide scapulohumeral motion with corresponding full ROM. Also, the joints of u-Rob have more range of motions compared to its existing counterparts. Secondly, we propose a fractional sliding mode control (FSMC) to control u-Rob. Applying the Lyapunov theory to the proposed control algorithm, we showed the stability of it. To control u-Rob, FSMC has shown effectiveness to handle unmodeled dynamics (e.g. friction, disturbance, etc.) in terms of better tracking and chatter compared to traditional SMC.

Keywords

New exoskeleton robotFractional sliding mode controlRobustnessRehabilitationTracking
Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020 , pp. 2099 - 2120
Copyright
Copyright © Cambridge University Press 2020

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