7-dof irehave upper-limb exoskeleton (MathWorks Inc)
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7-dof irehave upper-limb exoskeleton
7 Dof Irehave Upper Limb Exoskeleton, supplied by MathWorks Inc, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
https://www.bioz.com/product/7-dof+irehave+upper-limb+exoskeleton/pm38336511-183-8-16
Average 90 stars, based on 1 article reviews
7 Dof Irehave Upper Limb Exoskeleton, supplied by MathWorks Inc, used in various techniques. Bioz Stars score: 90/100, based on 1 PubMed citations. ZERO BIAS - scores, article reviews, protocol conditions and more
https://www.bioz.com/product/7-dof+irehave+upper-limb+exoskeleton/pm38336511-183-8-16
Average 90 stars, based on 1 article reviews
7-dof irehave upper-limb exoskeleton - by Bioz Stars,
2026-09
90/100 stars
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other:Article Title: Model-free finite-time robust control using fractional-order ultra-local model and prescribed performance sliding surface for upper-limb rehabilitation exoskeleton. Article Snippet: ISA Transactions 147 (2024) 511–526 A 0 Contents lists available at ScienceDirect ISA Transactions journal homepage: www.elsevier.com/locate/isatrans Research article Model-free finite-time robust control using fractional-order ultra-local model and prescribed performance sliding surface for upper-limb rehabilitation exoskeleton Dingxin He, Haoping Wang ∗, Yang Tian, Xingyu Ma Sino-French International Joint Laboratory of Automatic Control and Signal Processing (LaFCAS), School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, China A R T I C L E I N F O Keywords: Fractional-order control MIMO model-free robust control Finite-time stabilization Prescribed performance control 7-DOF iReHave upper-limb exoskeleton A B S T R A C T To address the trajectory tracking issue of upper-limb rehabilitation exoskeleton with uncertainties and external disturbances, this paper proposes a fractional-order ultra-local model-based model-free finite-time robust controller (FO-FTRC) using predefined performance sliding surface.. Different from previous modelfree control strategies, a novel multi-input multi-output (MIMO) fractional-order ultra-local model which is a virtual model is proposed to approximate the complex uncertain nonlinear exoskeleton dynamics in a short sliding time window.. This allows the design of controller to be independent of any exoskeleton model information and reduces the difficulty of controller design. |