Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton

Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient�s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observe...

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Main Authors: Aole, S., Elamvazuthi, I., Waghmare, L., Patre, B., Meriaudeau, F.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.23794 /
Published: SAGE Publications Ltd 2021
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091248511&doi=10.1177%2f0959651820954575&partnerID=40&md5=072bb55f2e567e42f961d9896dc3a63e
http://eprints.utp.edu.my/23794/
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spelling utp-eprints.237942021-08-19T13:09:49Z Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton Aole, S. Elamvazuthi, I. Waghmare, L. Patre, B. Meriaudeau, F. Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient�s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler�Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20 parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional�integral�derivative and existing conventional active disturbance rejection control method. © IMechE 2020. SAGE Publications Ltd 2021 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091248511&doi=10.1177%2f0959651820954575&partnerID=40&md5=072bb55f2e567e42f961d9896dc3a63e Aole, S. and Elamvazuthi, I. and Waghmare, L. and Patre, B. and Meriaudeau, F. (2021) Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton. Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, 235 (5). pp. 606-632. http://eprints.utp.edu.my/23794/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient�s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler�Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20 parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional�integral�derivative and existing conventional active disturbance rejection control method. © IMechE 2020.
format Article
author Aole, S.
Elamvazuthi, I.
Waghmare, L.
Patre, B.
Meriaudeau, F.
spellingShingle Aole, S.
Elamvazuthi, I.
Waghmare, L.
Patre, B.
Meriaudeau, F.
Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
author_sort Aole, S.
title Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
title_short Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
title_full Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
title_fullStr Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
title_full_unstemmed Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
title_sort non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton
publisher SAGE Publications Ltd
publishDate 2021
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85091248511&doi=10.1177%2f0959651820954575&partnerID=40&md5=072bb55f2e567e42f961d9896dc3a63e
http://eprints.utp.edu.my/23794/
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score 11.62408

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