Trajectory Tracking Control of Upper-Limb Rehabilitaion Exoskeleton Based on Robust Control

摘要

In this paper, the problem of rehabilitation of the upper limb using exoskeletons has been addressed. More specifically, we have proposed a command specifically dedicated to these robotic structures to take advantage of their capacity for interaction at the articular level of the human limb. The robust control proposed is quite simple in principle. But we have seen that the dynamic modeling of the upper limb exoskeleton is strongly nonlinear. It is therefore necessary to implement specific techniques for calculating compatible trajectories to achieve this end. The nominal adaptive control showed the efficiency and robustness in closed loop.