Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation

• DOI: 10.3390/robotics11050098
• Publication Date: 2022-09-23T03:07:55Z
• Authors: Md Mahafuzur Raha...; Asif Al Zubayer S...; Tanvir Ahmed; Md Mahbubur Rahman; Md Rasedul Islam; Brahim Brahmi; Raouf Fareh; Mohammad Habibur ...
• Keywords: Robot end effector

Geriatric disorders, strokes, spinal cord injuries, trauma, and workplace injuries are all prominent causes of upper limb disability. A two-degrees-of-freedom (DoFs) end-effector type robot, iTbot (intelligent therapeutic robot) was designed to provide rehabilitation therapy. The non-linear control utilizing modified sliding mode (SMC) is presented in this paper. chattering produced by a conventional SMC undesirable for robotic application because it damages the mechanical structure discomfort robot user. In contrast SMC, our proposed method reduces provides excellent dynamic tracking performance, allowing rapid convergence system trajectory its equilibrium point. performance developed controller evaluated trajectories corresponding passive arm movement exercises, including several joints. According results experiment, demonstrated ability follow desired effectively.