Abstract
This paper presents a robust sliding mode algorithm developed to control an exoskeleton used for rehabilitation of the upper limb. The considered system is a robot with three degrees of freedom controlling the flexion/ extension movement of the shoulder, the elbow and the wrist. A Monte Carlo simulation is done to analyze the robustness of the controller against matched and unmatched disturbances. Simulation results are provided to prove the performances and the effectiveness of the sliding mode algorithm face to disturbances.
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Bembli, S., Haddad, N.K., Belghith, S. (2019). Robustness Analysis of an Upper Limb Exoskeleton Controlled by Sliding Mode Algorithm. In: Rizk, R., Awad, M. (eds) Mechanism, Machine, Robotics and Mechatronics Sciences. Mechanisms and Machine Science, vol 58. Springer, Cham. https://doi.org/10.1007/978-3-319-89911-4_8
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DOI: https://doi.org/10.1007/978-3-319-89911-4_8
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