Cartesian Trajectory Tracking of a 7-DOF Exoskeleton Robot Based on Human Inverse Kinematics

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 49; no. 3; pp. 600 - 611
• Main Authors: Brahmi, Brahim, Saad, Maarouf, Rahman, Mohammad H., Ochoa-Luna, Cristobal
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Backstepping controller; Control systems design; Degrees of freedom; Elbow; exoskeleton robots; Exoskeletons; Human motion; Inverse kinematics; Kinematics; Lyapunov function; Medical treatment; Nonlinear control; Rehabilitation; robotic rehabilitation; Robots; Robust control; Shoulder; Test procedures; Therapy; Trajectories; Wrist

Exoskeleton robots have become an important tool to provide rehabilitation therapy to stroke victims because of their ability to allow rehabilitation exercises, ranging from passive to active-assisted movement, for extended time periods. To generate the desired rehabilitation trajectories and ensure...