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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaMultibody Mechatronic Systems - MuSMe 2021
EditoresMartín Pucheta, Alberto Cardona, Sergio Preidikman, Rogelio Hecker
EditorialSpringer Science and Business Media B.V.
Páginas213-223
Número de páginas11
ISBN (versión impresa)9783030887506
DOI
EstadoPublicada - 2022
Publicado de forma externa
Evento7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021 - Virtual, Online
Duración: 12 oct. 202115 oct. 2021

Serie de la publicación

NombreMechanisms and Machine Science
Volumen110 MMS
ISSN (versión impresa)2211-0984
ISSN (versión digital)2211-0992

Conferencia

Conferencia7th International Symposium on Multibody Systems and Mechatronics, MuSMe 2021
CiudadVirtual, Online
Período12/10/2115/10/21

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