NDLI: Force Control Strategy for a Hand Exoskeleton Based on Sliding Mode Position Control

Content Provider	IEEE Xplore Digital Library
Author	Wege, A. Kondak, K. Hommel, G.
Copyright Year	2006
Description	Author affiliation: Inst. of Comput. Eng. & Microelectron., Technische Univ. Berlin (Wege, A.; Kondak, K.; Hommel, G.)
Abstract	This paper presents a force-based control mode for a hand exoskeleton. This device has been developed with focus on support of the rehabilitation process after hand injuries or strokes. As the device is designed for the later use on patients, which have limited hand mobility, fast undesired movements have to be averted. Safety precautions in the hardware and software design of the system must be taken to ensure this. The construction allows controlling motions of the finger joints. However, due to friction in gears and mechanical construction, it is not possible to move finger joints within the construction without help of actuators. Therefore force sensors are integrated into the construction to sense force exchanged between human and exoskeleton. These allow the human to control the movements of the hand exoskeleton, which is useful to teach new trajectories or can be used for diagnostic purposes. The force control scheme presented in this paper uses the force sensor values to generate a trajectory which is executed by a position control loop based on sliding mode control
Starting Page	4615
Ending Page	4620
File Size	7075975
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282169
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Exoskeletons Position control Sliding mode control Force sensors Fingers Humans Injuries Software safety Hardware force control rehabilitation exoskeleton
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
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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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