Robustness Study of an Exoskeleton-Upper Limb System Controlled by a Model Free Adaptive Terminal Sliding Mode with Gravity Compensation

This research deals with the robustness analysis of a two-degree-of-freedom (2-DoF) exoskeleton-upper system controlled by a model-free adaptive terminal sliding mode with a gravity-compensation. The purpose of this research is to model and monitor flexion/extension movements of the shoulder and elbow. First, the dynamic modelling of the studied system is presented. Then, a model-free adaptive terminal sliding mode with gravity compensation method (MFATSMGC) was established to control the exoskeleton- upper limb system. Next, robustness study of the proposed controller in existence of uncertainties and disturbances was given. Finally, the performance and robustness of the proposed controller are presented based on simulation results.