title: Robust Control of a Cable-Driven Soft Exoskeleton Joint for Intrinsic Human-Robot Interaction.
abstract: A novel, cable-driven soft joint is presented for use in robotic rehabilitation exoskeletons to provide intrinsic, comfortable human-robot interaction. The torque-displacement characteristics of the soft elastomeric core contained within the joint are modeled. This knowledge is used in conjunction with a dynamic system model to derive a sliding mode controller (SMC) to implement low-level torque control of the joint. The SMC controller is experimentally compared with a baseline feedback-linearised proportional-derivative controller across a range of conditions and shown to be robust to un-modeled disturbances. The torque controller is then tested with six healthy subjects while they perform a selection of activities of daily living, which has validated its range of performance. Finally, a case study with a participant with spastic cerebral palsy is presented to illustrate the potential of both the joint and controller to be used in a physiotherapy setting to assist clinical populations.
authors.forename: C
authors.initials: C
authors.lastname: Jarrett
authors.forename: A J
authors.initials: AJ
authors.lastname: McDaid
mesh_terms: D000465:Algorithms; D001186:Artificial Limbs; D003198:Computer Simulation; D055119:Elastic Modulus; D004867:Equipment Design; D019544:Equipment Failure Analysis; D000067190:Exoskeleton Device; D005246:Feedback; D006801:Humans; D007595:Joint Prosthesis; D008328:Man-Machine Systems; D008954:Models, Biological; D000066530:Neurological Rehabilitation / Q000295:instrumentation / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D012680:Sensitivity and Specificity