Dynamic Compensation Controller with Feedback Linearization Technique of 3 Degree of Freedom Exoskeleton Robotic Arm for Upper Limb Rehabilitation Purpose

摘要

A dynamic compensation controller for an exoskeleton robotic arm is designed for the application of upper limb rehabilitation. In this paper, the proposed dynamic compensation controller with robust feature is studied and compared against the conventional PID and sliding-mode controller. The exoskeleton robotic arm need to be controlled to assist post-stroke patient in rehabilitation. The motion executed by the exoskeleton is very crucial as it determines the effectiveness of the physiotherapy assisted by the robotic technology. The assisted therapy is expected to resolve the problem of difficulty of the stroke patient to visit physiotherapist at clinics or hospital by providing an equivalent therapy service back at home. The robotic solution is not to be considered to replace the job of the physiotherapist but rather serves to complement the existing clinical practice. In this paper, we are focusing on rehabilitation of upper limb impairment.