Structural Design and Sliding Mode Control Approach of a 4-DoF Upper-Limb Exoskeleton for Post-stroke Rehabilitation
- Johan Nuñez-Quispe(corresponding author),
- Alvaro Figueroa,
- Daryl Campusano,
- Johrdan Huamanchumo,
- Axel Soto,
- Ebert Chate
- Universidad Nacional de Ingeniería
Publication Information
Output type
Original language
EnglishPages from-to (Number of pages)
Pages 213-223 (11 pages)Publication milestones
- Published - 2022
Publication status
Publisher
Springer Science and Business Media B.V.Publication series
- Publication series name: Mechanisms and Machine Science
ISSN (Print): 2211-0984
ISSN (Electronic): 2211-0992
Volume: 110 MMS
ISBN (Print)
9783030887506Publication IDs
- Scopus: 85118182973
Host publication title
Multibody Mechatronic Systems - MuSMe 2021Host publication editors
- Martín Pucheta
- Alberto Cardona
- Sergio Preidikman
- Rogelio Hecker
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.