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École de technologie supérieure

1. Brahmi, Brahim. Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks.

Degree: 2019, École de technologie supérieure

This doctoral thesis proposes the developments of an exoskeleton robot used to rehabilitate patients with upper-limb impairment, named ETS-MARSE robot. The developments included in this work are the design, and validation of a kinematic inverse solution and nonlinear control strategy for an upper limb exoskeleton robot. These approaches are used in passive and active rehabilitation motion in presence of dynamics and kinematics uncertainties and unexpected disturbances. Considering the growing population of post-stroke victims, there is a need to improve accessibility to physiotherapy by using the modern robotic rehabilitation technology. Recently, rehabilitation robotics attracted a lot of attention from the scientific community since it is able to overcome the limitations of conventional physical therapy. The importance of the rehabilitation robot lies in its ability to provide intensive physiotherapy for a long period time. The measured data of the robot allows the physiotherapist to accurately evaluate the patient’s performance. However, these devices are still part of an emerging area and present many challenges compared to the conventional robotic manipulators, such as the high nonlinearity, dimensional (high number of DOFs) and unknown dynamics (uncertainties). These limitations are provoked due to their complex mechanical structure designed for human use, the types of assistive motion, and the sensitivity of the interaction with a large diversity of human wearers. As a result, these conditions make the robot system vulnerable to dynamic uncertainties and external disturbances such as saturation, friction forces, backlash, and payload. Likewise, the interaction between human and the exoskeleton make the system subjected to external disturbances due to different physiological conditions of the subjects like the different weight of the upper limb for each subject. During a rehabilitation movement, the nonlinear uncertain dynamic model and external forces can turn into unknown function that can affect the performance of the exoskeleton robot. The main challenges addressed in this thesis are firstly to design a human inverse kinematics solution to perform a smooth movement similar to natural human movement (human-like motion). Secondly, to develop controllers characterized by a high-level of robustness and accuracy without any sensitivity to uncertain nonlinear dynamics and unexpected disturbances. This will give the control system more flexibility to handle the uncertainties and parameters’ variation in different modes of rehabilitation motion (passive and active).

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Brahmi, B. (2019). Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks. (Thesis). École de technologie supérieure. Retrieved from http://espace.etsmtl.ca/2327/1/BRAHMI_Brahim.pdf ; http://espace.etsmtl.ca/2327/2/BRAHMI_Brahim-web.pdf

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Brahmi, Brahim. “Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks.” 2019. Thesis, École de technologie supérieure. Accessed July 20, 2019. http://espace.etsmtl.ca/2327/1/BRAHMI_Brahim.pdf ; http://espace.etsmtl.ca/2327/2/BRAHMI_Brahim-web.pdf.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Brahmi, Brahim. “Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks.” 2019. Web. 20 Jul 2019.

Vancouver:

Brahmi B. Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks. [Internet] [Thesis]. École de technologie supérieure; 2019. [cited 2019 Jul 20]. Available from: http://espace.etsmtl.ca/2327/1/BRAHMI_Brahim.pdf ; http://espace.etsmtl.ca/2327/2/BRAHMI_Brahim-web.pdf.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Brahmi B. Nonlinear control of an exoskeleton seven degrees of freedom robot to realize an active and passive rehabilitation tasks. [Thesis]. École de technologie supérieure; 2019. Available from: http://espace.etsmtl.ca/2327/1/BRAHMI_Brahim.pdf ; http://espace.etsmtl.ca/2327/2/BRAHMI_Brahim-web.pdf

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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