Force-position control of a robotic exoskeleton to provide upper extremity movement assistance
by Mohammad Habibur Rahman; Cristóbal Ochoa-Luna; Md Jahidur Rahman; Maarouf Saad; Philippe Archambault
International Journal of Modelling, Identification and Control (IJMIC), Vol. 21, No. 4, 2014

Abstract: This paper presents an upper extremity (UE) wearable robot, ETS-MARSE and its control strategy to provide movement assistance and active rehabilitation exercises to physically disabled individuals having impaired UE function. The ETS-MARSE was designed to be worn on the lateral side of UE and is able to assist arm movements at the level of shoulder, elbow, forearm and wrist joint movements. Considering the dynamic modelling of the robot system and the UE motion which are non-linear in nature, a non-linear sliding mode control with exponential reaching law was used to manoeuvre the ETS-MARSE and to provide both passive and assisted arm movement therapy. To provide passive arm movement therapy, pre-programmed trajectories corresponding to recommended passive rehabilitation exercises were used to manoeuvre the ETS-MARSE, whereas in case of assisted rehabilitation therapy user interaction wrist force sensor signals were used to steer the ETS-MARSE in assisting the UE movements. Experiments involving healthy human subjects were performed with the developed ETS-MARSE to evaluate the controller's performance and that of the ETS-MARSE in regards to providing the therapeutic exercises. Experimental results indicate that with the proposed control strategy, ETS-MARSE can effectively deliver rehabilitation exercises.

Online publication date:: Sat, 23-Aug-2014

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email