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Estimated Model-Based Sliding Mode Controller for an Active Exoskeleton Robot

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Applications of Sliding Mode Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 79))

Abstract

This paper presents a new design of a robot elbow rehabilitation: Wireless Remote Control Arm exoskeleton (WRCAE). The robot is designed for the upper limb therapy. The developed system is an exoskeleton with two degrees of freedom that can be used for the treatment, evaluation and reinforcement. The exoskeleton actuates the both movements: flexion/extension for the elbow and pronation/supination for the forearm. Angles limits (max and min) should be introduced by the physiotherapist through a Human-Machine Interface (HMI). Desired angles of the both movements (elbow flexion/extension or forearm pronation/supination) are sent remotely via the ZigBee protocol (xbee-pro communication). A kinematic model has been developed based on Denavit–Hartenberg approach to make first tests. A sliding mode robust law control has been implemented. A kinect camera was built to detect different measures of flexion/extension and send feedback to the controller. The Lyapunov-based approach has been used to establish the system asymptotic stability. Experimental results are provided to demonstrate performances of the developed robot of upper limb remote rehabilitation.

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Authors and Affiliations

  1. Control and Energy Management Laboratory (CEM-Lab), Sfax Engineering School, University of Sfax, Sfax, Tunisia

    Yassine Bouteraa & Ismail Ben Abdallah

Authors
  1. Yassine Bouteraa
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  2. Ismail Ben Abdallah
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Correspondence to Yassine Bouteraa .

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Editors and Affiliations

  1. University of Sfax, Sfax, Tunisia

    Nabil Derbel

  2. University of Tunis Carthage, Urbain Nord, Tunisia

    Jawhar Ghommam

  3. University of the West of England, Bristol, United Kingdom

    Quanmin Zhu

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© 2017 Springer Science+Business Media Singapore

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Bouteraa, Y., Ben Abdallah, I. (2017). Estimated Model-Based Sliding Mode Controller for an Active Exoskeleton Robot. In: Derbel, N., Ghommam, J., Zhu, Q. (eds) Applications of Sliding Mode Control. Studies in Systems, Decision and Control, vol 79. Springer, Singapore. https://doi.org/10.1007/978-981-10-2374-3_10

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  • DOI: https://doi.org/10.1007/978-981-10-2374-3_10

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2373-6

  • Online ISBN: 978-981-10-2374-3

  • eBook Packages: EngineeringEngineering (R0)

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