Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, the mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, the mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of the upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterward, direct and inverse…
Read More