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We present an adaptive control based on robust nonlinear sliding mode and time delay estimation. This controller allows a seven degrees-of-freedom arm exoskeleton robot dealing with unknown nonlinear uncertain dynamics and external disturbances. The controller is developed in order to provide passive rehabilitation. The closed loop stability of the overall system is proved based on Lyapunov theory...
Assisted control seeks to help subjects to perform physical movements of the body, which they cannot do by themselves. Passive rehabilitation therapy is very important and vital after the stroke accident. In this functioning mode, the subject is completely passive during the movement. The robot brings the injured upper arm of the patient to perform repetitive therapeutic exercises. In this case, the...
This paper presents a robot aided passive arm movement therapeutic scheme. A seven DoFs robot, ETS-MARSE (motion assistive exoskeleton robot for superior extremity) was used for this purpose. It is an exoskeleton type wearable robot, which was designed corresponds to human upper-limb biomechanics, to provide movement assistance and rehabilitation to the individuals with upper limb dysfunction due...
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