Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation
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 upper limb rehabilitation therapy. The non-line...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/11/5/98 |
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| author | Md Mahafuzur Rahaman Khan Asif Al Zubayer Swapnil Tanvir Ahmed Md Mahbubur Rahman Md Rasedul Islam Brahim Brahmi Raouf Fareh Mohammad Habibur Rahman |
| author_facet | Md Mahafuzur Rahaman Khan Asif Al Zubayer Swapnil Tanvir Ahmed Md Mahbubur Rahman Md Rasedul Islam Brahim Brahmi Raouf Fareh Mohammad Habibur Rahman |
| author_sort | Md Mahafuzur Rahaman Khan |
| collection | DOAJ |
| description | 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 upper limb rehabilitation therapy. The non-linear control of iTbot utilizing modified sliding mode control (SMC) is presented in this paper. The chattering produced by a conventional SMC is undesirable for this type of robotic application because it damages the mechanical structure and causes discomfort to the robot user. In contrast to conventional SMC, our proposed method reduces chattering and provides excellent dynamic tracking performance, allowing rapid convergence of the system trajectory to its equilibrium point. The performance of the developed robot and controller was evaluated by tracking trajectories corresponding to conventional passive arm movement exercises, including several joints. According to the results of experiment, the iTbot demonstrated the ability to follow the desired trajectories effectively. |
| first_indexed | 2024-03-09T19:31:30Z |
| format | Article |
| id | doaj.art-36d67ee5fb464f37b07df7d05546d573 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-09T19:31:30Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-36d67ee5fb464f37b07df7d05546d5732023-11-24T02:23:36ZengMDPI AGRobotics2218-65812022-09-011159810.3390/robotics11050098Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb RehabilitationMd Mahafuzur Rahaman Khan0Asif Al Zubayer Swapnil1Tanvir Ahmed2Md Mahbubur Rahman3Md Rasedul Islam4Brahim Brahmi5Raouf Fareh6Mohammad Habibur Rahman7Department of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53211, USADepartment of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53211, USABiomedical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53211, USADepartment of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53211, USARichard J. Resch School of Engineering, University of Wisconsin—Green Bay (UWGB), Green Bay, WI 54311, USAElectrical Engineering Department, College Ahuntsic, Montreal, QC H2M 1Y8, CanadaElectrical Engineering Department, University of Sharjah, Sharjah P.O. Box 27272, United Arab EmiratesDepartment of Mechanical Engineering, University of Wisconsin-Milwaukee, Milwaukee, WI 53211, USAGeriatric 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 upper limb rehabilitation therapy. The non-linear control of iTbot utilizing modified sliding mode control (SMC) is presented in this paper. The chattering produced by a conventional SMC is undesirable for this type of robotic application because it damages the mechanical structure and causes discomfort to the robot user. In contrast to conventional SMC, our proposed method reduces chattering and provides excellent dynamic tracking performance, allowing rapid convergence of the system trajectory to its equilibrium point. The performance of the developed robot and controller was evaluated by tracking trajectories corresponding to conventional passive arm movement exercises, including several joints. According to the results of experiment, the iTbot demonstrated the ability to follow the desired trajectories effectively.https://www.mdpi.com/2218-6581/11/5/98upper-limb rehabilitationend-effector robot (iTbot)sliding mode controlreaching lawtrajectory tracking |
| spellingShingle | Md Mahafuzur Rahaman Khan Asif Al Zubayer Swapnil Tanvir Ahmed Md Mahbubur Rahman Md Rasedul Islam Brahim Brahmi Raouf Fareh Mohammad Habibur Rahman Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation Robotics upper-limb rehabilitation end-effector robot (iTbot) sliding mode control reaching law trajectory tracking |
| title | Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation |
| title_full | Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation |
| title_fullStr | Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation |
| title_full_unstemmed | Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation |
| title_short | Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation |
| title_sort | development of an end effector type therapeutic robot with sliding mode control for upper limb rehabilitation |
| topic | upper-limb rehabilitation end-effector robot (iTbot) sliding mode control reaching law trajectory tracking |
| url | https://www.mdpi.com/2218-6581/11/5/98 |
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