Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo
{"title":"ADRC for Upper Limb Exoskeleton: A Simulation Study","authors":"Sumit Aole, I. Elamvazuthi, Laxman Waghmare, B. Patre, Tushar Bhaskarwar, Tindyo Prasetyo","doi":"10.1109/ROMA55875.2022.9915692","DOIUrl":null,"url":null,"abstract":"Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.","PeriodicalId":121458,"journal":{"name":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE 5th International Symposium in Robotics and Manufacturing Automation (ROMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMA55875.2022.9915692","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
Exoskeletons are developed to ease the process of rehabilitation by helping in the recovery of muscle strength and dysfunctional activities after mishaps, accidents, and spinal cord injuries. The intention of this paper is to present an Active Disturbance Rejection Control technique applied to Upper limb robotic rehabilitation exoskeletons that reinforced the rehabilitation process. The simulation study shows the trajectory tracking ability of the ADRC strategy along with disturbance rejection for upper limb devices with given sinusoidal input in comparison to PID through simulation results.
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