<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The mean goal of this paper is to describe the design and control approach of an exoskeleton for rehabilitation of the disuse muscular atrophy of a human arm. This work includes three main parts: Firstly, the exoskeleton model wes design by Autodesk Inventor 3D software. Secondly, the dynamic simulation of the designed exoskeleton model attached to the human arm was performed using OpenSim software and its Matlab API extension, and finally a robust control law was simulated in order to ensure tracking of the rehabilitation trajectories applied by the exoskeleton to the human arm. OpenSim software makes it possible to simulate movements with musculoskeletal models, namely, the human arm. Rehabilitation in this case consists in a precise exercises given by the therapist. In our case, it is the repetitive trajectories given to the exoskeleton that must be controlled. A sliding mode controller was used since it is a robust control and ensures the best solutions to uncertainty issues. Through simulation, we tested some rehabilitation reference trajectories for the elbow and shoulder. The controller ensures high performances in terms of trajectory tracking in the presence of initial errors and also in the presence of model parameter errors. That showed the effectiveness of the exoskeleton control.</p>
</abstract>

The mean goal of this paper is to describe the design and control approach of an exoskeleton for rehabilitation of the disuse muscular atrophy of a human arm. This work includes three main parts: Firstly, the exoskeleton model wes design by Autodesk Inventor 3D software. Secondly, the dynamic simulation of the designed exoskeleton model attached to the human arm was performed using OpenSim software and its Matlab API extension, and finally a robust control law was simulated in order to ensure tracking of the rehabilitation trajectories applied by the exoskeleton to the human arm. OpenSim software makes it possible to simulate movements with musculoskeletal models, namely, the human arm. Rehabilitation in this case consists in a precise exercises given by the therapist. In our case, it is the repetitive trajectories given to the exoskeleton that must be controlled. A sliding mode controller was used since it is a robust control and ensures the best solutions to uncertainty issues. Through simulation, we tested some rehabilitation reference trajectories for the elbow and shoulder. The controller ensures high performances in terms of trajectory tracking in the presence of initial errors and also in the presence of model parameter errors. That showed the effectiveness of the exoskeleton control.

Design of Matlab/Opensim Robust Controller of an Exoskeleton for Disuse Muscular Atrophy Rehabilitation of A Human Arm

Applied Automation and Industrial Diagnostic Laboratory

The Scientific Bulletin of Electrical Engineering Faculty

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

The mean goal of this paper is to describe the design and control approach of an exoskeleton for rehabilitation of the disuse muscular atrophy of a human arm....

Design of Matlab/Opensim Robust Controller of an Exoskeleton for Disuse Muscular Atrophy Rehabilitation of A Human Arm

Publié en ligne: 28 févr. 2024

Pages: 34 - 41

DOI: https://doi.org/10.2478/sbeef-2023-0017

Mots clés
Robust control, Sliding mode control, exoskeleton design, disuse muscular atrophy, therapeutic exercise, initial conditions errors, model parameters errors

© 2023 Dalila Djoudi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Design of Matlab/Opensim Robust Controller of an Exoskeleton for Disuse Muscular Atrophy Rehabilitation of A Human Arm

Publié en ligne: 28 févr. 2024

Pages: 34 - 41

DOI: https://doi.org/10.2478/sbeef-2023-0017

Mots clésRobust control, Sliding mode control, exoskeleton design, disuse muscular atrophy, therapeutic exercise, initial conditions errors, model parameters errors

© 2023 Dalila Djoudi et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
Robust control, Sliding mode control, exoskeleton design, disuse muscular atrophy, therapeutic exercise, initial conditions errors, model parameters errors