Title: Modelling, control and robustness analysis of a 2-DoF exoskeleton-upper limb system

Authors: Sana Bembli; Nahla Khraief Haddad; Safya Belghith

Addresses: RISC Laboratory, National Engineering School of Tunis, University of Tunis El-Manar, Tunis 1002, Tunisia ' RISC Laboratory, National Engineering School of Tunis, University of Tunis El-Manar, Tunis 1002, Tunisia ' RISC Laboratory, National Engineering School of Tunis, University of Tunis El-Manar, Tunis 1002, Tunisia

Abstract: This paper presents a new adaptive gain terminal sliding mode with gravity compensation control of an exoskeleton-upper limb system. The treated system is a two-degree-of-freedom robot (2-DoF) in interaction with an upper limb used for rehabilitation. The objective is to control the flexion/extension movement of the shoulder and the elbow in presence of matched disturbances. First, the modelling, the control and the stability study of the considered system using different laws were made. Next, a comparison study between these tested algorithms was done based on Monte Carlo robustness analysis method. Finally, the performance and the effectiveness of the adaptive gain terminal sliding mode algorithm combined with the Gravity Compensation in presence of uncertainties are provided by simulation results.

Keywords: exoskeleton-upper limb system; dynamic model; adaptive gain terminal sliding mode; gravity compensation; stability study; Monte Carlo analysis; matched disturbances.

DOI: 10.1504/IJIEI.2021.122438

International Journal of Intelligent Engineering Informatics, 2021 Vol.9 No.6, pp.578 - 603

Received: 08 Apr 2021
Accepted: 11 Sep 2021
Published online: 25 Apr 2022 *

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