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On the Validation of the Proper Generalized Decomposition Method with Finite Element Method: 3D Heat Problem Under Cyclic Loading Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Robustness Analysis of an Upper Limb Exoskeleton Controlled by Sliding Mode Algorithm

Authors : Sana Bembli, Nahla Khraief Haddad, Safya Belghith

Published in: Mechanism, Machine, Robotics and Mechatronics Sciences

Publisher: Springer International Publishing

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Abstract

This paper presents a robust sliding mode algorithm developed to control an exoskeleton used for rehabilitation of the upper limb. The considered system is a robot with three degrees of freedom controlling the flexion/ extension movement of the shoulder, the elbow and the wrist. A Monte Carlo simulation is done to analyze the robustness of the controller against matched and unmatched disturbances. Simulation results are provided to prove the performances and the effectiveness of the sliding mode algorithm face to disturbances.

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previous chapter On Control Design for a Lower Limb Orthosis: A Comparative Study in Different Operating Conditions
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Metadata
Title
Robustness Analysis of an Upper Limb Exoskeleton Controlled by Sliding Mode Algorithm
Authors
Sana Bembli
Nahla Khraief Haddad
Safya Belghith
Copyright Year
2019
Book
Mechanism, Machine, Robotics and Mechatronics Sciences

Print ISBN: 978-3-319-89910-7

Electronic ISBN: 978-3-319-89911-4

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-89911-4_8

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