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Development Of A 7 Dof Exoskeleton Robot For Rehabilitation Of Lower Extremity, Sk Hasan
Development Of A 7 Dof Exoskeleton Robot For Rehabilitation Of Lower Extremity, Sk Hasan
Theses and Dissertations
The World Health Organization reports that worldwide about 1 billion people have some form ofdisability. Of these, 110-190 million people have significant difficulties in functioning (mainly upper and lower extremity disability) independently. The major causes of human lower extremity disability include stroke, trauma, spinal cord injuries, and muscular dystrophy. Every 40 seconds, someone in the United States has a stroke. A statistic shows that approximately 65% of post-stroke patients suffer lower extremity impairment. Rehabilitation programs are the main method to promote functional recovery in disabled individuals. The conventional therapeutic approach requires a long commitment from a therapist or a clinician. …
Development Of Novel Compound Controllers To Reduce Chattering Of Sliding Mode Control, Mehran Rahmani
Development Of Novel Compound Controllers To Reduce Chattering Of Sliding Mode Control, Mehran Rahmani
Theses and Dissertations
The robotics and dynamic systems constantly encountered with disturbances such as micro electro mechanical systems (MEMS) gyroscope under disturbances result in mechanical coupling terms between two axes, friction forces in exoskeleton robot joints, and unmodelled dynamics of robot manipulator. Sliding mode control (SMC) is a robust controller. The main drawback of the sliding mode controller is that it produces high-frequency control signals, which leads to chattering. The research objective is to reduce chattering, improve robustness, and increase trajectory tracking of SMC. In this research, we developed controllers for three different dynamic systems: (i) MEMS, (ii) an Exoskeleton type robot, and …