Authors:
Sana Bembli
;
Nahla Khraief Haddad
and
Safya Belghith
Affiliation:
RISC Laboratory, National Engineering School of Tunis, University of Tunis El-Manar, Tunis and Tunisia
Keyword(s):
Exoskeleton-Upper Limb System, Terminal Sliding Mode, EMG Signal, Robustness Analysis, Monte Carlo Simulation, Uncertainties.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
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.