Modeling and Control of an Upper Limb Rehabilitation Robot

To assist the physically disabled people, design of a 4 degrees of freedom rehabilitation device named Portable Exoskeleton Robot (PER) is discussed. Moreover, this paper presents kinematic and dynamic model and control of the device. This system is designed to be worn on the patient’s arm in order to stimulate elbow flexion-extension, forearm pronation-supination, wrist flexion-extension and abduction-adduction movement. PER possesses of advantages of less weigh, compact size and less torque requirements. Two control approaches named state feedback and modified sliding mode control are employed to make joints follow their desired trajectories.