Houda Barbouch, Abderraouf Khemiri, Nahla Khraief, Safya Belghith, "Nonlinear Disturbance Observer Based Control of a 7DoF Exoskeleton Robot for Arm Movements," WSEAS Transactions on Systems, vol. 16, pp. 271-278, 2017, DOI:
Houda Barbouch, Abderraouf Khemiri, Nahla Khraief, Safya Belghith. Nonlinear Disturbance Observer Based Control of a 7DoF Exoskeleton Robot for Arm Movements.
WSEAS Transactions on Systems. 2017;16:271-278.
WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 16, 2017
Nonlinear Disturbance Observer Based Control of a 7DoF Exoskeleton Robot for Arm Movements
Authors: , , ,
Abstract: This paper focuses on the application of a disturbance observer control of an exoskeleton upperextremity. In order to achieve this target, arm two steps were executed; first of all, a prototype of the exoskeleton robot has been designed using Solidworks software, after its dynamic model has been accomplished. Then, the development of non linear controller (Computed Torque Control) was performed. Finally, to the application of a disturbance observer in the control, we have used the Lyapunov method to estimate the external disturbance about the device.
Keywords:
Exoskeleton robot, rehabilitation, physical disability, Computed Torque Control, Nonlinear Disturbance Observer, External disturbance, Lyapunov method
Pages: 271-278 WSEAS Transactions on Systems, ISSN / E-ISSN: 1109-2777 / 2224-2678, Volume 16, 2017, Art. #31 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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