Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation

• Published in: Sensors (Basel, Switzerland) Vol. 22; no. 10; p. 3747
• Main Authors: Ahmed, Tanvir, Islam, Md Rasedul, Brahmi, Brahim, Rahman, Mohammad Habibur
• Format: Journal Article
• Language: English
• Published: Switzerland MDPI AG 14.05.2022; MDPI
• Subjects: Adult; Comparative analysis; Control algorithms; Design; Exoskeleton Device; exoskeleton robot; Experiments; Human subjects; Humans; Kinematics; Motion; passive rehabilitation exercise; Patients; Performance evaluation; PID motion control; Range of motion; Rehabilitation; Robotics; Robots; Sensors; Sports injuries; Stroke; trajectory tracking; Upper Extremity; upper limb rehabilitation; passive rehabilitation exercise; upper limb rehabilitation; PID motion control; exoskeleton robot; trajectory tracking

Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to provide upper limb rehabilitation therapy. The robot is designe...