NDLI: Robust sliding mode adaptive control for lower extremity exoskeleton

Content Provider	IEEE Xplore Digital Library
Author	Fucheng Cao Chunfeng Li Yuanchun Li
Copyright Year	2015
Description	Author affiliation: Coll. of Commun. Eng., JiLin Univ., Changchun, China (Fucheng Cao) \|\| Dept. of Control Eng., Changchun Univ. of Technol., Changchun, China (Yuanchun Li) \|\| Coll. of Electron. Inf. & Eng., Changchun Univ., Changchun, China (Chunfeng Li)
Abstract	To the patients with neurological injury or with chronic incomplete spinal cord injury, a gait rehabilitation exoskeleton can reproduce the motion of the user limbs and help to relearn and recover the motion of their limbs. This motion helps in the formation of user new neural path-ways to relearn to walk. In this paper, an exoskeleton type robot-assisted rehabilitation system is studied. A control architecture, which contains a sliding mode adaptive controller and a passivity based robust controller, is designed to complete the planned rehabilitation task in a safe manner. The proposed control architecture can recognize the patient's interative forces and then realize active control under the dynamic model of the exoskeleton robot system is inaccurate. The performance of the designed control architecture of lower extremity exoskeleton is verified in the computer simulation and show the effectiveness to cope with the uncertainty in the patient-robot cooperative system.
Starting Page	400
Ending Page	405
File Size	353554
Page Count	6
File Format	PDF
e-ISBN	9781467371896
DOI	10.1109/CAC.2015.7382533
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-27
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Adaptation models Rehabilitation robot Heuristic algorithms Exoskeletons Spinal cord injury Adaptive control Robots Extremities Sliding mode control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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