Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation

Johan Nuñez-Quispe, Alvaro Figueroa, Daryl Campusano, Johrdan Huamanchumo, Axel Soto, Ebert Chate, Jesus Acuña, Juan Lleren, Jose Albites-Sanabria, Leonardo Paul Milián-Ccopa, Kevin Taipe, Briggitte Suyo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this research, a 4-DoF upper limb exoskeleton was designed to assist patients while performing cross-pattern movements in a Proprioceptive Neuromuscular Facilitation (PNF) rehabilitation task. The mechanical design included 3 DoF for the shoulder and one for the elbow. The exoskeleton was designed and validated by structural simulation based on finite element analysis. The rehabilitation trajectory was obtained from a healthy person by image processing and a Sliding Mode Control (SMC) strategy was applied for tracking. Results from the structural simulation show that the factor of safety is over 1.3 on average for the proposed exoskeleton design. In addition, results show that the controller is robust to variations in the arm weight, with a tracking error of less than 0.0025 rad.

Original languageEnglish
Title of host publicationMultibody Mechatronic Systems - MuSMe 2021
EditorsMartín Pucheta, Alberto Cardona, Sergio Preidikman, Rogelio Hecker
PublisherSpringer Science and Business Media B.V.
Pages213-223
Number of pages11
ISBN (Print)9783030887506
DOIs
StatePublished - 2022
Externally publishedYes
Event7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 - Virtual, Online
Duration: 12 Oct 202115 Oct 2021

Publication series

NameMechanisms and Machine Science
Volume110 MMS
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021
CityVirtual, Online
Period12/10/2115/10/21

Keywords

  • Finite element analysis
  • Mechanical design
  • Robot-aided rehabilitation
  • Sliding mode control
  • Upper-limb exoskeleton

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