Control of Soft Wearable Robots for Elbow Assistance and Rehabilitation: A Simplified Solution Using Disturbance Observer and Nonsmooth Feedback

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 33; pp. 2988 - 2999
• Main Authors: Wang, Jiajin, Xu, Baoguo, Wang, Xin, Lai, Jianwei, Wei, Xiangshan, Zhao, Zishuo, Lu, Ye, Shen, Ying, Wang, Hongxing, Song, Aiguo
• Format: Journal Article
• Language: English
• Published: United States IEEE 2025
• Subjects: Actuators; Adult; Algorithms; Analytical models; Bending; Biomechanical Phenomena; composite controller; Computer Simulation; disturbance observer; Elbow; Elbow Joint; Equipment Design; Exoskeleton Device; Feedback; Feedforward systems; Humans; Male; Medical diagnostic imaging; Nonlinear Dynamics; Pneumatic systems; rehabilitation robotics; Robot sensing systems; Robotics - instrumentation; Soft robotics; Stroke Rehabilitation - instrumentation; Wearable Electronic Devices; Wearable robotics; Wearable robots

Soft wearable robots present a promising approach for elbow assistance and rehabilitation. However, most existing devices rely on open-loop control strategies, which renders individual customization cumbersome and incapable of adapting to dynamic interactions. The challenges in implementing closed-l...