Commande d'un bras exosquelette robotique à sept degrés de liberté

Abstract

The partial or complete loss of function of the upper limb is mostly caused by injuries to age or accidents involving injuries or professional sports, and spinal cord injury or stroke. Since the number of such cases is steadily increasing and that the duration of treatment is longer and longer, the development of a robotic exoskeleton for rehabilitation of upper limbs could contribute significantly to the success of these interventions. My research project is to design electrical and electronic architecture of the robot MARSE (Motion Assistive Robotic exoskeleton for Superior Extremity) to control the rotating seven degrees of freedom it entails. To achieve this, a mathematical modeling of the dynamics of the robot was completed. Since the dynamics of this robot has several nonlinearities, the study of nonlinear controllers is appropriate to pursue a desired trajectory. The computed torque control and the sliding mode control have been approached, because these methods are simple and they are often used for robotic arms. Thereafter the description of electronic components and a description of the control architecture are presented in order to explain the functionality of the robot. Similarly, the study of Hall Effect sensors as a position sensor is made and the experiments show that they could be used for the robot. Finally, a comparison of the trajectories following has been experimented and the results show that the sliding mode control is the most robust.

Date	10 Jan 2012
Original language	French
Awarding Institution	École de technologie supérieure
Supervisor	Maarouf Saad (Supervisor) & Philippe Archambault (Co-supervisor)