A Terminal Sliding Mode Control using EMG Signal: Application to an Exoskeleton-Upper Limb System

Sana Bembli, Nahla Haddad, Safya Belghith

Abstract

This paper presents a robust terminal sliding mode control using the EMG signal. The application deals with an exoskeleton-upper limb system, used for rehabilitation. The considered system is a robot with one degree of freedom controlling the flexion/ extension movement of the elbow. The different stages of the EMG signal extraction were presented. Then, a second order terminal sliding mode algorithm has been developed to control the exoskeleton-upper limb system. A Stability study is realized and a robustness analysis is done using Monte Carlo simulation in presence of parametric uncertainties. Simulation results are provided to prove performance and effectiveness of the second order terminal sliding mode algorithm when tracking the EMG signal extracted from the human arm.

Download


Paper Citation


in Harvard Style

Bembli S., Haddad N. and Belghith S. (2019). A Terminal Sliding Mode Control using EMG Signal: Application to an Exoskeleton-Upper Limb System.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 559-565. DOI: 10.5220/0008071905590565


in Bibtex Style

@conference{icinco19,
author={Sana Bembli and Nahla Haddad and Safya Belghith},
title={A Terminal Sliding Mode Control using EMG Signal: Application to an Exoskeleton-Upper Limb System},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={559-565},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0008071905590565},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Terminal Sliding Mode Control using EMG Signal: Application to an Exoskeleton-Upper Limb System
SN - 978-989-758-380-3
AU - Bembli S.
AU - Haddad N.
AU - Belghith S.
PY - 2019
SP - 559
EP - 565
DO - 10.5220/0008071905590565