title: Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety.
abstract: This paper studies an adaptive control strategy for a class of 5 DOF upper-limb exoskeleton robot with a special safety consideration. The safety requirement plays a critical role in the clinical treatment when assisting patients with shoulder, elbow and wrist joint movements. With the objective of assuring the tracking performance of the pre-specified operations, the proposed adaptive controller is firstly designed to be robust to the model uncertainties. To further improve the safety and fault-tolerance in the presence of unknown large parameter variances or even actuator faults, the adaptive controller is on-line updated according to the information provided by an adaptive observer without additional sensors. An output tracking performance is well achieved with a tunable error bound. The experimental example also verifies the effectiveness of the proposed control scheme.
authors.affiliation: Northeastern University, Shenyang, China. Electronic address: kangta_apple@163.com.
authors.forename: Hao-Bo
authors.initials: HB
authors.lastname: Kang
authors.forename: Jian-Hui
authors.initials: JH
authors.lastname: Wang
mesh_terms: D032701:Biomimetics / Q000295:instrumentation*; D003198:Computer Simulation; D004869:Equipment Safety / Q000295:instrumentation* / Q000379:methods; D025461:Feedback, Physiological / Q000502:physiology; D006801:Humans; D007596:Joints / Q000502:physiology*; D008328:Man-Machine Systems; D008954:Models, Biological; D009989:Orthotic Devices; D012371:Robotics / Q000295:instrumentation*; D034941:Upper Extremity / Q000502:physiology*
keywords: Adaptive control; Observer-based control; Robotics; Safety requirement