Computer aided decision model to control an exoskeleton-upper limb system

This paper present the different construction stages of simulation CAD models worked out using SolidWorks and Matlab/Simulink environments. As example of simulation model, an exoskeleton and a human upper limb have been shown. These models allow visualization of tracking of the desired trajectory by the system. The interaction between the exoskeleton and the human upper limb was studied as well as the operating principle of this system. Then, to control the exoskeleton-upper limb system, a Computer Torque Control (CTC) and an adaptive sliding mode are developed. The performances and the effectiveness of the proposed adaptive sliding mode algorithm are proved by the simulation results.