TY - GEN
T1 - Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation
AU - Nuñez-Quispe, Johan
AU - Figueroa, Alvaro
AU - Campusano, Daryl
AU - Huamanchumo, Johrdan
AU - Soto, Axel
AU - Chate, Ebert
AU - Acuña, Jesus
AU - Lleren, Juan
AU - Albites-Sanabria, Jose
AU - Milián-Ccopa, Leonardo Paul
AU - Taipe, Kevin
AU - Suyo, Briggitte
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - 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.
AB - 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.
KW - Finite element analysis
KW - Mechanical design
KW - Robot-aided rehabilitation
KW - Sliding mode control
KW - Upper-limb exoskeleton
UR - http://www.scopus.com/inward/record.url?scp=85118182973&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-88751-3_22
DO - 10.1007/978-3-030-88751-3_22
M3 - Contribución a la conferencia
AN - SCOPUS:85118182973
SN - 9783030887506
T3 - Mechanisms and Machine Science
SP - 213
EP - 223
BT - Multibody Mechatronic Systems - MuSMe 2021
A2 - Pucheta, Martín
A2 - Cardona, Alberto
A2 - Preidikman, Sergio
A2 - Hecker, Rogelio
PB - Springer Science and Business Media B.V.
Y2 - 12 October 2021 through 15 October 2021
ER -