Human-in-the-loop dynamic modeling and control of an upper-limb exoskeleton

Abstract

This work presents a contribution to the human-in-the-loop dynamic modeling and control of an upper-limb exoskeleton. The treated system is a human upper limb in contact with a robot having two-degree-of-freedom (2-DoF). The objective of this work is to model and to monitor the flexion and the extension movements of the shoulder and the elbow. First, the dynamic modeling of the considered system is presented. Next, an Adaptive Terminal Sliding Mode (ATSM) is developed to control the exoskeleton-upper limb system. Finally, the performance and the effectiveness of the proposed dynamic model and the Adaptive Terminal Sliding mode controller are presented by simulation results.