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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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Exoskeleton Hand Control by Fractional Order Models.

Mircea Ivanescu1, Nirvana Popescu2, Decebal Popescu3

  • 1Department of Mechatronics, University of Craiova, 200585 Craiova, Romania. ivanescu@robotics.ucv.ro.

Sensors (Basel, Switzerland)
|October 27, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces fractional order control for hand exoskeletons and sensors monitoring human behavior. It ensures system stability using advanced control laws and observer designs, validated through simulations and experimental platforms.

Keywords:
controlexoskeleton handfractional order model

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Area of Science:

  • Robotics and Control Systems
  • Mechatronics
  • Biomedical Engineering

Background:

  • Complex systems like hand exoskeletons require advanced control for human behavior monitoring.
  • Fractional order control offers a robust approach for systems with or without delays.

Purpose of the Study:

  • To propose and discuss fractional order control laws for complex systems, specifically hand exoskeletons and sensors.
  • To ensure the asymptotic stability of closed-loop systems using novel control strategies.
  • To present an observer control for complex models and analyze its stability.

Main Methods:

  • Development of control laws based on physically significant variables for fractional order models.
  • Application of Lyapunov techniques and Yakubovici-Kalman-Popov lemma for stability analysis.
  • Design of an observer control for enhanced system monitoring and stability.

Main Results:

  • Frequency criteria for ensuring asymptotic stability of the closed-loop system were inferred.
  • The asymptotic stability of the hand exoskeleton-observer system was studied for sector control laws.
  • Numerical simulations demonstrated the effectiveness of the proposed methods on an intelligent haptic robot-glove.

Conclusions:

  • Fractional order control provides a stable and effective solution for complex systems like hand exoskeletons.
  • The proposed observer control and sector control laws are suitable for monitoring and controlling human behavior.
  • The study validates the theoretical findings through experimental analysis on a haptic robot-glove.