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

doi:10.1007/978-3-030-88751-3_22

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	Multibody Mechatronic Systems - MuSMe 2021
Editors	Martín Pucheta, Alberto Cardona, Sergio Preidikman, Rogelio Hecker
Publisher	Springer Science and Business Media B.V.
Pages	213-223
Number of pages	11
ISBN (Print)	9783030887506
DOIs	https://doi.org/10.1007/978-3-030-88751-3_22
State	Published - 2022
Externally published	Yes
Event	7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 - Virtual, Online Duration: 12 Oct 2021 → 15 Oct 2021

Publication series

Name	Mechanisms and Machine Science
Volume	110 MMS
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021
City	Virtual, Online
Period	12/10/21 → 15/10/21

Keywords

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

Access to Document

10.1007/978-3-030-88751-3_22

Cite this

Nuñez-Quispe, J., Figueroa, A., Campusano, D., Huamanchumo, J., Soto, A., Chate, E., Acuña, J., Lleren, J., Albites-Sanabria, J., Milián-Ccopa, L. P., Taipe, K., & Suyo, B. (2022). Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation. In M. Pucheta, A. Cardona, S. Preidikman, & R. Hecker (Eds.), Multibody Mechatronic Systems - MuSMe 2021 (pp. 213-223). (Mechanisms and Machine Science; Vol. 110 MMS). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-030-88751-3_22

Nuñez-Quispe, Johan ; Figueroa, Alvaro ; Campusano, Daryl et al. / Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation. Multibody Mechatronic Systems - MuSMe 2021. editor / Martín Pucheta ; Alberto Cardona ; Sergio Preidikman ; Rogelio Hecker. Springer Science and Business Media B.V., 2022. pp. 213-223 (Mechanisms and Machine Science).

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

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.",

keywords = "Finite element analysis, Mechanical design, Robot-aided rehabilitation, Sliding mode control, Upper-limb exoskeleton",

author = "Johan Nu{\~n}ez-Quispe and Alvaro Figueroa and Daryl Campusano and Johrdan Huamanchumo and Axel Soto and Ebert Chate and Jesus Acu{\~n}a and Juan Lleren and Jose Albites-Sanabria and Mili{\'a}n-Ccopa, {Leonardo Paul} and Kevin Taipe and Briggitte Suyo",

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Nuñez-Quispe, J, Figueroa, A, Campusano, D, Huamanchumo, J, Soto, A, Chate, E, Acuña, J, Lleren, J, Albites-Sanabria, J, Milián-Ccopa, LP, Taipe, K & Suyo, B 2022, Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation. in M Pucheta, A Cardona, S Preidikman & R Hecker (eds), Multibody Mechatronic Systems - MuSMe 2021. Mechanisms and Machine Science, vol. 110 MMS, Springer Science and Business Media B.V., pp. 213-223, 7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021, Virtual, Online, 12/10/21. https://doi.org/10.1007/978-3-030-88751-3_22

Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation. / Nuñez-Quispe, Johan; Figueroa, Alvaro; Campusano, Daryl et al.

Multibody Mechatronic Systems - MuSMe 2021. ed. / Martín Pucheta; Alberto Cardona; Sergio Preidikman; Rogelio Hecker. Springer Science and Business Media B.V., 2022. p. 213-223 (Mechanisms and Machine Science; Vol. 110 MMS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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

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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 -

Nuñez-Quispe J, Figueroa A, Campusano D, Huamanchumo J, Soto A, Chate E et al. Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation. In Pucheta M, Cardona A, Preidikman S, Hecker R, editors, Multibody Mechatronic Systems - MuSMe 2021. Springer Science and Business Media B.V. 2022. p. 213-223. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-030-88751-3_22

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

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