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Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 – 2013 when Madi was a master’s student.

Inverse Dynamics Controller


Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide.

One symptom of a stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL).

Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years.

Robot-aided arm therapy is more intensive, of longer duration, and more repetitive. By using robots repetitive dull exercises can turn into more challenging and motivating tasks such as games. Besides, robots can provide a quantitative measure of the rehabilitation progress.

This paper introduces a new robot for shoulder rehabilitation. The shoulder rehabilitation system (S.R.S) has three degrees of freedom (DOFs) for three rotational degrees of freedom of the shoulder.

It also allows the additional translational DOFs of the shoulder to avoid discomfort to the patient. A new open circular mechanism is proposed for the third joint. The mechanical structure is designed and optimized in Solidworks and it is based on the properties of the upper limb of an adult person.

The proposed control algorithm is inverse dynamics control which is intended to be used in passive rehabilitation. The proposed control can efficiently track the desired trajectory and reject constant bounded disturbance input to the system.

To see the full text Click HERE!

Here are the files to replicate Upper-Limb Exoskeleton Robot Project:

The report of the Thesis: Click HERE!

Design in SolidWorks: Click HERE!

Shoulder Rehabilitation System (SRS) Dynamics: Click HERE!

SRS with Inverse Dynamic Controller Tracking: Click HERE!

SRS with Lyapunov Based Controller: Click HERE!

SRS PD Control with Gravity Compensation Regulation: Click HERE!

SRS PD Control with Gravity Compensation Tracking: Click HERE!

SRS PID Control: Click HERE!

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