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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.

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Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 559-565. DOI: 10.5220/0008071905590565

@conference{icinco19,
author={Sana Bembli. and Nahla Khraief 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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Bembli, S.
AU - Haddad, N.
AU - Belghith, S.
PY - 2019
SP - 559
EP - 565
DO - 10.5220/0008071905590565
PB - SciTePress